Showing cs.ROShow all
3 papers · 1 filter
cs.RO2026
Beyond Pure Sampling: Hybrid Optimization Mechanisms for Non-Convex Model Predictive Control
Yuichiro Aoyama, Minchan Jung, Akash Ratheesh +1
This paper investigates the optimization mechanisms of non-convex Model Predictive Control (MPC) using the Maximum Entropy Differential Dynamic Programming (ME-DDP) framework. Navi…
cs.RO2026
Sampling-Based Control via Entropy-Regularized Optimal Transport
Vincent Pacelli, Akash Ratheesh, Evangelos A. Theodorou
Sampling-based model predictive control methods like MPPI and CEM are essential for real-time control of nonlinear robotic systems, particularly where discontinuous dynamics preclu…
cs.RO2025
Operator Splitting Covariance Steering for Safe Stochastic Nonlinear Control
Akash Ratheesh, Vincent Pacelli, Augustinos D. Saravanos +1
This paper presents a novel algorithm for solving distribution steering problems featuring nonlinear dynamics and chance constraints. Covariance steering (CS) is an emerging method…