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cs.RO2026
Adaptive Mean Flow for Responsive Closed-Loop Robot Control
Aksel Vaaler, Marco Job, Christian Holden +1
Diffusion- and flow-based robot policies have recently become widespread in robotic Imitation Learning (IL) due to their high performance and ability to model continuous and multim…
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…