3 papers
cs.RO2026
COSMIK-MPPI: Scaling Constrained Model Predictive Control to Collision Avoidance in Close-Proximity Dynamic Human Environments
Ege Gursoy, Maxime Sabbah, Arthur Haffemayer +5
Ensuring safe physical interaction between torque-controlled manipulators and humans is essential for deploying robots in everyday environments. Model Predictive Control (MPC) has…
cs.RO2026
CACTO-BIC: Scalable Actor-Critic Learning via Biased Sampling and GPU-Accelerated Trajectory Optimization
Elisa Alboni, Pietro Noah Crestaz, Elias Fontanari +1
Trajectory Optimization (TO) and Reinforcement Learning (RL) offer complementary strengths for solving optimal control problems. TO efficiently computes locally optimal solutions b…
eess.SY2025
Constrained Trajectory Optimization for Hybrid Dynamical Systems
Pietro Noah Crestaz, Gokhan Alcan, Ville Kyrki
Hybrid dynamical systems pose significant challenges for effective planning and control, especially when additional constraints such as obstacle avoidance, state boundaries, and ac…