4 papers
Sampling Strategy Design for Model Predictive Path Integral Control on Legged Robot Locomotion
Chuyuan Tao, Fanxin Wang, Haolong Jiang +3
Model Predictive Path Integral (MPPI) control has emerged as a powerful sampling-based optimal control method for complex, nonlinear, and high-dimensional systems. However, directl…
Needle Biopsy And Fiber-Optic Compatible Robotic Insertion Platform
Fanxin Wang, Yikun Cheng, Chuyuan Tao +2
Tissue biopsy is the gold standard for diagnosing many diseases, involving the extraction of diseased tissue for histopathology analysis by expert pathologists. However, this proce…
DBaS-Log-MPPI: Efficient and Safe Trajectory Optimization via Barrier States
Fanxin Wang, Haolong Jiang, Chuyuan Tao +2
Optimizing trajectory costs for nonlinear control systems remains a significant challenge. Model Predictive Control (MPC), particularly sampling-based approaches such as the Model…
MPPI-DBaS: Safe Trajectory Optimization with Adaptive Exploration
Fanxin Wang, Yikun Cheng, Chuyuan Tao
In trajectory optimization, Model Predictive Path Integral (MPPI) control is a sampling-based Model Predictive Control (MPC) framework that generates optimal inputs by efficiently…