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cs.RO2026
RL-Guided PAC-NMPC for Probabilistically-Safe Perception-Based Navigation in Unknown Environments
Adam Polevoy, Dillon Capalongo, Katherine Tang +3
In this paper, we present an approach for combining stochastic nonlinear model predictive control (SNMPC) and reinforcement learning (RL) to enable probabilistically-safe perceptio…
cs.RO2026
Stochastic Multiple Shooting Trajectory Optimization via Sequential Local Policy Evaluation
Ashwin Gupta, Joseph Moore
Stochastic single shooting trajectory optimization methods such as Model Predictive Path Integral control (MPPI) have been widely adopted in robotics due to their ability to reason…