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math.OC2026
Anytime-Feasible Gradient Descent for Constrained Optimization Under Gradient Uncertainty
Sina Sharifi, Jiarui Wang, Mahyar Fazlyab
Constrained optimization is central to many engineering systems in which decisions must satisfy strict safety and operational requirements, especially in real-time settings with li…
eess.SY2026
Generalized Model Predictive Path Integral Control as Expectation--Maximization
Jiarui Wang, Sina Sharifi, Mahyar Fazlyab
Model Predictive Path Integral (MPPI) control is a powerful sampling-based method for solving stochastic optimal control problems and has enabled real-time control in complex robot…
math.OC2026
Model Predictive Path Integral Control as Preconditioned Gradient Descent
Mahyar Fazlyab, Sina Sharifi, Jiarui Wang
Model Predictive Path Integral (MPPI) control is a widely used sampling-based method for trajectory optimization, yet its convergence properties remain only partially understood. T…