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cs.RO2026
Real-Time Dynamics-Based Torque-Sampling MPPI for Compliant and Force Aware Manipulation
Euncheol Im, Taehyun Kim, Yonghwan Oh +2
This study proposes a novel Model Predictive Path Integral (MPPI)-based task-space control framework. The proposed framework explicitly solves rigid-body dynamics within a real-tim…
cs.RO2026
ProxPI: Proximal Prior Injection for Sampling-Based MPC under Learned-Prior Mismatch
Euncheol Im, Myotaeg Lim, Yisoo Lee
Combining learned policies with model predictive control can leverage learned task priors while retaining online adaptation to new objectives and constraints, but performance degra…
cs.RO2026
RGB: RL Guided Whole-Body MPPI for Humanoid Control
Yunsoo Seo, Sol Choi, Euncheol Im +2
Humanoid robots require whole-body controllers that are both robust and precise in contact-rich environments. While deep reinforcement learning (RL) achieves robust stability, its…