Related papers: VIMPPI: Enhancing Model Predictive Path Integral C…

Video frame interpolation methodologies endeavor to create novel frames betwixt extant ones, with the intent of augmenting the video's frame frequency. However, current methods are prone to image blurring and spurious artifacts in…

We study the problem of optimal state-feedback tracking control for unknown discrete-time deterministic systems with input constraints. To handle input constraints, state-of-art methods utilize a certain nonquadratic stage cost function,…

Application of nonlinear model predictive control (NMPC) to problems with hybrid dynamical systems, disjoint constraints, or discrete controls often results in mixed-integer formulations with both continuous and discrete decision variables.…

Model Predictive Path Integral (MPPI) control has recently emerged as a fast, gradient-free alternative to model-predictive control in highly non-linear robotic tasks, yet it offers no hard guarantees on constraint satisfaction. We…

Articulated vehicles such as tractor-trailers, yard trucks, and similar platforms must often reverse and maneuver in cluttered spaces where pedestrians are present. We present how Barrier-Rate guided Model Predictive Path Integral (BR-MPPI)…

This paper is concerned with the error analysis of two types of sampling algorithms, namely model predictive path integral (MPPI) and an interacting particle system (\IPS) algorithm, that have been proposed in the literature for numerical…

The Wheeled Inverted Pendulum (WIP) is an underactuated, nonholonomic mechatronic system, and has been popularized commercially as the Segway. Designing a control law for motion planning, that incorporates the state and control constraints,…

This paper proposes a novel methodology for trajectory planning in autonomous vehicles (AVs), addressing the complex challenge of negotiating speed bumps within a unified Mixed-Integer Quadratic Programming (MIQP) framework. By leveraging…

The classical Model Predictive Path Integral (MPPI) control framework, while effective in many applications, lacks reliable safety features due to its reliance on a risk-neutral trajectory evaluation technique, which can present challenges…

Navigating safely in dynamic and uncertain environments is challenging due to uncertainties in perception and motion. This letter presents the Chance-Constrained Unscented Model Predictive Path Integral (C2U-MPPI) framework, a robust…

Autonomous docking remains one of the most challenging maneuvers in marine robotics, requiring precise control and robust perception in confined spaces. This paper presents a novel approach integrating Model Predictive Path Integral(MPPI)…

In the era of large-scale foundation models, fully fine-tuning pretrained networks for each downstream task is often prohibitively resource-intensive. Prompt tuning offers a lightweight alternative by introducing tunable prompts while…

This paper introduces a novel nonlinear stochastic model predictive control path integral (MPPI) method, which considers chance constraints on system states. The proposed belief-space stochastic MPPI (BSS-MPPI) applies Monte-Carlo sampling…

Sampling-based Model Predictive Control (MPC) has been a practical and effective approach in many domains, notably model-based reinforcement learning, thanks to its flexibility and parallelizability. Despite its appealing empirical…

This article proposes a new safety concept: backup plan safety. The backup plan safety is defined as the ability to complete one of the alternative missions in the case of primary mission abortion. To incorporate this new safety concept in…

Conventional methods of imitation learning for variable-speed motion have difficulty extrapolating speeds because they rely on learning models running at a constant sampling frequency. This study proposes variable-frequency imitation…

The paper presents a feedforward plus feedback controller structure with I and PI controllers for control of an integrating process with dead time. Guidelines for controller gain selection based on time domain specifications of damping…

This short paper describes our proposed solution for the third edition of the "AI Olympics with RealAIGym" competition, held at ICRA 2025. We employed Monte-Carlo Probabilistic Inference for Learning Control (MC-PILCO), an MBRL algorithm…

A Hybrid passive Linear Inverted Pendulum (HLIP) model is proposed for characterizing, stabilizing and composing periodic orbits for 3D underactuated bipedal walking. Specifically, Period-1 (P1) and Period-2 (P2) orbits are geometrically…

Neuromorphic engineering is an emerging research domain that aims to realize important implementation advantages that brain-inspired technologies can offer over classical digital technologies, including energy efficiency, adaptability, and…