CacheMPC: Certified Cached Model Predictive Control for Quadruped Locomotion

Abstract

Model Predictive Control (MPC) is the standard predictive layer in hierarchical quadruped controllers, but the per-cycle QP solve limits the update rate achievable on embedded processors. Because legged gaits revisit a bounded region of state space, MPC solutions admit caching and reuse. This paper proposes \emph{Certified CacheMPC}: a Locality-Sensitive-Hashed cache of horizon contact-force trajectories, partitioned by contact mode, retrieved at query time and accepted only when an a-posteriori per-query certificate confirms primal feasibility and a Lagrangian dual-gap upper bound on cost suboptimality. A bounded-budget controller schedule combines top-$K$ certified retrieval, a deadline-bounded QP solve, and a shifted last-certified fallback. The framework is evaluated on a Unitree Go2 across $2,038$ usable cold-controller MuJoCo trials, including a $600$-trial $n=50$ campaign at three failure-boundary cells, and a first-deploy session on the on-robot NVIDIA Orin NX. The un-gated cache delivers a $25\times$ median solve-time speedup in simulation and an $18.7\times$ median speedup on hardware. At $n=50$ no statistically significant difference in closed-loop stable rate is detected between the cache variants and the no-cache baseline at any tested cell. The certificate's contribution to closed-loop safety is not resolvable at the present sample size.