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cs.RO2026
Uncertainty Guided Exploratory Trajectory Optimization for Sampling-Based Model Predictive Control
O. Goktug Poyrazoglu, Yukang Cao, Rahul Moorthy +1
Trajectory optimization depends heavily on initialization. In particular, sampling-based approaches are highly sensitive to initial solutions, and limited exploration frequently le…
cs.RO2025
C-Free-Uniform: A Map-Conditioned Trajectory Sampler for Model Predictive Path Integral Control
Yukang Cao, Rahul Moorthy, O. Goktug Poyrazoglu +1
Trajectory sampling is a key component of sampling-based control mechanisms. Trajectory samplers rely on control input samplers, which generate control inputs u from a distribution…