3 papers
cs.RO2026
MP-MPPI: A Motion Primitive Guided Sampling-Based Optimizer for Model Predictive Control
Marlon Mathisen, Aksel Vaaler, Olav Egeland +1
This paper proposes a novel method that extends the Model Predictive Path Integral (MPPI) method with motion primitives for additional structured sampling, which enhances the conve…
cs.RO2025
Hybrid Diffusion for Simultaneous Symbolic and Continuous Planning
Sigmund Hennum Høeg, Aksel Vaaler, Chaoqi Liu +2
Constructing robots to accomplish long-horizon tasks is a long-standing challenge within artificial intelligence. Approaches using generative methods, particularly Diffusion Models…
cs.RO2023
Modular Control Architecture for Safe Marine Navigation: Reinforcement Learning and Predictive Safety Filters
Aksel Vaaler, Svein Jostein Husa, Daniel Menges +2
Many autonomous systems face safety challenges, requiring robust closed-loop control to handle physical limitations and safety constraints. Real-world systems, like autonomous ship…