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math.OC2026
A particle swarm optimization with a reduced-subspace trust-region safeguard for contact-rich controller tuning
Morteza Kimiaei, Roya Khalili-Amirabadi, Mohsen Jalaeian-Farimani
Contact-rich robotic insertion is challenging because uncertainty in alignment, friction, and contact conditions can lead to unsuccessful assembly, excessive contact forces, and ja…
math.OC2026
Risk-Constrained MPPI Tuning with Update-Aware MA-ES Racing
Morteza Kimiaei, Roya Khalili-Amirabadi, Mohsen Jalaeian-Farimani
We formulate offline tuning of Model Predictive Path Integral (MPPI) controllers as a chance-constrained black-box optimization problem and develop an update-aware framework based…