2 papers
cs.RO2026
Projection-Retraction MPPI: Exact Constraint-Manifold Control for Manipulators
Seulchan Lee, Leesai Park, Minhyeong Kang +1
Model Predictive Path Integral (MPPI) control is widely used in manipulation for its gradient-free, parallel handling of non-convex costs. Manipulation tasks, however, often impose…
cs.RO2026
Manifold-Constrained MPPI: Real-Time Sampling-Based Control Under Hard Constraints
Seulchan Lee, Sanghyun Kim
Sampling-based model predictive control methods, such as Model Predictive Path Integral (MPPI), offer derivative-free optimization and robustness in complex robotic systems. Howeve…