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cs.RO2026
Robust Path Tracking for Vehicles via Continuous-Time Residual Learning: An ICODE-MPPI Approach
Shugen Song, Wenjie Mei, Chengyan Zhao
Model Predictive Path Integral (MPPI) control is a powerful sampling-based strategy for nonlinear autonomous systems. However, its performance is often bottlenecked by the fidelity…
cs.RO2025
Memory-Augmented Potential Field Theory: A Framework for Adaptive Control in Non-Convex Domains
Dongzhe Zheng, Wenjie Mei
Stochastic optimal control methods often struggle in complex non-convex landscapes, frequently becoming trapped in local optima due to their inability to learn from historical traj…
cs.RO2025
Learning Dynamics under Environmental Constraints via Measurement-Induced Bundle Structures
Dongzhe Zheng, Wenjie Mei
Learning unknown dynamics under environmental (or external) constraints is fundamental to many fields (e.g., modern robotics), particularly challenging when constraint information…