3 papers
cs.RO2026
Quadruped Parkour Learning: Sparsely Gated Mixture of Experts with Visual Input
Michael Ziegltrum, Jianhao Jiao, Tianhu Peng +2
Robotic parkour provides a compelling benchmark for advancing locomotion over highly challenging terrain, including large discontinuities such as elevated steps. Recent approaches…
cs.RO2025
Feedback-MPPI: Fast Sampling-Based MPC via Rollout Differentiation -- Adios low-level controllers
Tommaso Belvedere, Michael Ziegltrum, Giulio Turrisi +1
Model Predictive Path Integral control is a powerful sampling-based approach suitable for complex robotic tasks due to its flexibility in handling nonlinear dynamics and non-convex…
cs.RO2025
BC-MPPI: A Probabilistic Constraint Layer for Safe Model-Predictive Path-Integral Control
Odichimnma Ezeji, Michael Ziegltrum, Giulio Turrisi +2
Model Predictive Path Integral (MPPI) control has recently emerged as a fast, gradient-free alternative to model-predictive control in highly non-linear robotic tasks, yet it offer…