license:bsd-3-clause region:us
---
license: bsd-3-clause
---


<h1 align="center">
Online DNN-driven Nonlinear MPC for Stylistic Humanoid Robot Walking with Step Adjustment
</h1>

<div align="center">
Giulio Romualdi, Paolo Maria Viceconte, Stefano Dafarra, Silvio Traversaro and Daniele Pucci <br> <br>
<b>Paolo Maria Viceconte and Giulio Romualdi are co-first authors</b>
</div>

<br>

<div align="center">
📅 Submitted to the 2024 International Conference on Robotics and Automation (ICRA) 🤖
</div>

<section>
<h2>📂 Dataset</h2>

<p>
The dataset is organized in folders each representing a complete experiment. Each folder is organized as follows:
</p>
<ul>
<li>
a <code>.mp4</code> file containing the video of the experiment
</li>
<li>
a <code>.mat</code> file containing the associated data
</li>
<li>
a <code>.md</code> file containing the version of the code used
</li>
</ul>
</section>

<section>
<h2>📊 Dataset Visualization</h2>
<p>
To visualize the experiment, we suggest using
<a href="https://github.com/ami-iit/robot-log-visualizer">robot-log-visualizer</a> as shown in the following video
<video controls autoplay src="https://cdn-uploads.huggingface.co/production/uploads/645421457f7b2bed1a01197b/JFnRvecj1QQ_pt7rG-0Dk.webm"></video>
</section>