Model Predictive Control

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43 papers in the last four weeks, up 95% on the four weeks before. 0.4% of all new papers.

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  1. Energy-Aware Path Following: Comparative Analysis of Reinforcement Learning and NMPC for Electric Vehicles

    Oct 6, 2026Mohamed Sabaa, Mostafa EmamModel Predictive Control

    Computer Science Department, Najran University, Najran, Saudi Arabia · Institute of Applied Mathematics and Scientific Computing, University of the Bundeswehr Munich, Neubiberg, 85579, Germany

  2. Distribution-Transfer Safe-Horizon MPC under Mode Uncertainty

    Oct 5, 2026Stephen Crawford, Nora AyanianModel Predictive Control

    Department of Computer Science, Brown University, Providence, RI, USA.

  3. Mind the Execution Gap: Action-Semantic Mismatch in World-Model Control

    Oct 5, 2026Shengtao Wen, Xiang Chen, Yu Tian +3Model Predictive Control

    Nanjing University of Aeronautics and Astronautics, Nanjing, China · Tsinghua University, Beijing, China · Nanjing University, Nanjing, China

  4. Virtual model control for compliant reaching under uncertainties

    Oct 5, 2026Yi Zhang, Daniel Larby, Fumiya Iida +1Model Predictive Control

    Department of Engineering, University of Cambridge, UK.

  5. Optimal Control with Learned Critics under Unmodeled State Dependencies

    Oct 4, 2026Philipp Schoch, Markus RyllModel Predictive Control

    Autonomous Aerial Systems Lab Technical University of Munich

  6. ReCo: Response-Consistent Locomotion with Policy-Aware MPC for Legged Manipulation

    Oct 1, 2026Kuankuan Sima, Yichao Gao, Chenxi Gu +2Agile LocomotionRobotic Manipulation Policies

    Department of Electrical and Computer Engineering, National University of Singapore, Singapore 119077, Singapore · Department of Mechanical Engineering, National University of Singapore, Singapore 119077, Singapore

  7. Markovian Dynamics Enforcer: Feasibility Preserving Correction on Learned Dynamics Manifolds

    Sep 30, 2026Kevin Yu, Tao Guo, Constantinos Antoniou +1Model Predictive ControlInverse Dynamics

    Imperial College London, UK · Technical University of Munich, Germany

  8. RL-Guided PAC-NMPC for Probabilistically-Safe Perception-Based Navigation in Unknown Environments

    Sep 30, 2026Adam Polevoy, Dillon Capalongo, Katherine Tang +3Model Predictive ControlDynamic Environments

    Johns Hopkins University Applied Physics Laboratory, Laurel, MD 20723, USA. · Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD 21218, USA.

  9. Beyond Policy Alignment: Closing the Planning-Learning Loop for Robot Control with Learned World Models

    Sep 30, 2026Kowndinya Boyalakuntla, Yuhan Liu, Abdeslam BoulariasWorld Model PlanningModel Predictive Control

    Rutgers University

  10. Onboard Vision and MPC Navigation for Underwater Robots: An Open BlueROV2 Platform for Multi-Robot Experiments & Docking

    Sep 29, 2026Victor Nan Fernandez-Ayala, Wiktor Kowalczyk, Cezary Banaszek +1Underwater RobotsUnderwater Acoustic Target Recognition

    Department of Decision and Control Systems, School of Electrical Engineering and Computer Science, KTH Royal Institute of Technology, Stockholm, Sweden.

  11. DQ-MPCC: Dual-Quaternion MPCC for Quadrotor Racing

    Sep 29, 2026Bryan S. Guevara, Luis F. Recalde, Guanrui Li +1QuadrotorModel Predictive Control

    Laboratory of Systems and Robotics Engineering (LASER), Center of Informatics (CI), Federal University of Para´ıba (UFPB), Jo˜ao Pessoa, PB 58051-900, Brazil · Department of Robotics Engineering, Worcester Polytechnic Institute (WPI), Worcester, MA 01609, USA

  12. Coordinated Lane-Level Variable Speed Limits and Ramp Metering for Successive Weaving Segments Considering Merging/Diverging Risks: A Hybrid Model Predictive Control and Multi-Agent Reinforcement Learning Approach

    Sep 28, 2026Guodong Ma, Baofeng Sun, Wenyu Yang +1Standard Traffic Speed BenchmarksTraffic

    School of Transportation, Jilin University, Changchun 130022, China · School of Transportation and Logistics, Southwest Jiaotong University, Chengdu 610031, China

  13. Think Fast, Plan Selectively: Adaptive Deliberation for Efficient Data-Driven MPC

    Sep 26, 2026Yi Xian Goh, Sze Jue Yang, Hao LuanModel Predictive ControlDeliberation

    Independent Researcher · Faculty of Computer Science and Information Technology, Universiti Malaya · School of Computing, National University of Singapore

  14. AD-WM: Action-Discriminative World Models for Counterfactual Model Predictive Control

    Sep 24, 2026Jiabin Qiu, Zixuan Chen, Hongye Cao +3World ModelsModel Predictive Control

    Nanjing University

  15. Training-free Behavior Cloning

    Sep 24, 2026Maximilian Adang, Timothy Chen, Lars Osterberg +2Behavior CloningModel Predictive Control

    Stanford University, Stanford, CA 94404, USA.

  16. Koopman-Accelerated Model-Based Diffusion for Real-Time Robot Control

    Sep 24, 2026Bohyeong Pak, Kangmin Lee, Sanghyun KimModel Predictive ControlRobust Trajectory

    Department of Mechanical Engineering, Kyung Hee University, Yongin, Republic of Korea.

  17. Planning Trajectories that Bounce: Reflection Classes for Collision-Tolerant Robots

    Sep 22, 2026Subhadeep Koley, Subhrajit Bhattacharya, David SaldañaCollision-Free TrajectoriesSafe Navigation

    Lehigh University, Bethlehem, PA 18015, USA

  18. Wheel-loader V-Cycle Automation with Deep Koopman MPC

    Sep 22, 2026Armin Abdolmohammadi, Navid Mojahed, Dinesh Kumar +2Model Predictive ControlVehicle Dynamics

    Department of Mechanical and Aerospace Engineering, University of California, Davis, CA, USA.

  19. Manipulation of Deformable Linear Objects Using Model Predictive Path Integral Control with Bidirectional Long Short-Term Memory Learning

    Sep 22, 2026Lukas Zeh, Johannes Meiwaldt, Zexu Zhou +2Deformable Linear ObjectsModel Predictive Path Integral

    Institute for Control Engineering of Machine Tools and Manufacturing Units, University of Stuttgart, Stuttgart, Germany

  20. Safety-Constrained Model Predictive Control for an Omnidirectional Walking Assistive Robot Using Control Barrier Function

    Sep 22, 2026Andrea Fortuna, Marta Lorenzini, Elisa Motta +3Control Barrier FunctionsModel Predictive Control

    Human-Robot Interfaces and Interaction Laboratory, Istituto Italiano di Tecnologia, Genoa, Italy · Department of Electronics, Information and Bioengineering, Politecnico di Milano, Milan, Italy · Dep. of Occupational and Environmental Medicine, Epidemiology and Hygiene, INAIL, Rome, Italy

  21. Higher-Order Approximation of Exit Functionals in Sampling-Based Stochastic Model Predictive Control

    Sep 21, 2026Sashank Modali, Takashi TanakaStochastic Optimal ControlModel Predictive Control

  22. BarrierFormer: Transformer-Guided Predictive Barrier Enforcement for Safe Robot Control

    Sep 20, 2026Anandsingh Chauhan, Kunal GargControl Barrier FunctionsModel Predictive Control

    Arizona State University

  23. Cost-Aware Reinforcement Learning with Action Masking and Projection for Battery Energy Storage Dispatch under Suppressed-Spread Market Shifts

    Sep 20, 2026Kuanlin Chen, Chen-Wei Kuo, Cheng-En OuBattery Energy Storage SystemsProximal Policy Optimization

    Independent Researcher Taoyuan, Taiwan · National Tsing Hua University Hsinchu, Taiwan · Independent Researcher

  24. Underwater Visual Target Tracking with Target-Specific Depth Estimation and Adaptive Model-Fusion Predictive Control

    Sep 17, 2026Yuheng Zhou, Haiyang Cheng, Yanqi Feng +5Autonomous Underwater VehiclesUnderwater Acoustic Target Recognition

    Department of Automation, Shanghai Jiao Tong University, Shanghai, China · University of Toronto, Toronto, Canada · University of Calgary, Calgary, Canada

  25. Accelerating Visual Policy Learning with Sampling-Based Model Predictive Control

    Sep 17, 2026Yilang Liu, Haoxiang You, Qian Wang +2Visuomotor PolicyModel Predictive Control

    Department of Mechanical Engineering, Yale University, New Haven, CT 06520, USA · Department of Computer Science, Yale University, New Haven, CT 06520, USA · School of Electrical and Computer Engineering, University of Sydney, Sydney, NSW 2006, Australia

  26. DR-MPC: Fast and Feasible Dynamics-Relaxed Model-Predictive Control for Legged Locomotion

    Sep 17, 2026Run Wang, Alapati Tuerxun, Shuo Liu +4Model Predictive ControlQuadratic Programs

    Department of Automation, Tsinghua University, Beijing, China · Department of Mechanical Engineering, Boston University, Brookline, MA, USA · School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore +1

  27. Distributed Model Predictive Control with Connectivity-based Contracts

    Sep 17, 2026Jorit Geurts, Danilo Saccani, Melanie N. Zeilinger +1Model Predictive ControlMulti-Robot Systems

    Institute for Dynamic Systems and Control, ETH Zurich, Switzerland · Institute of Mechanical Engineering, École Polytechnique Fédérale de Lausanne (EPFL), CH-1015 Lausanne, Switzerland

  28. Mixed-Integer Nonlinear Differentiable Predictive Control for Underground Pumped Hydro Energy Storage Systems

    Sep 16, 2026Honghui Zheng, Ján Boldocký, Yury Dvorkin +1Model Predictive ControlNeural Policies

    Johns Hopkins University, Baltimore MD, US · Slovak University of Technology in Bratislava, Slovakia

  29. Adaptive-MHE : A Sampling-Based Adaptive MPC for Legged Loco-Manipulation via Moving Horizon Estimation

    Sep 15, 2026Hossein Keshavarz, Alejandro Ramirez-Serrano, Majid KhadivHumanoid Loco-ManipulationLegged Robots

    University of Calgary, Department of Mechanical Engineering, 2500 University Drive NW, Calgary, AB, Canada · Munich Institute of Robotics and Machine Intelligence (MIRMI), Technical University of Munich (TUM), Germany

  30. Composite-Gradient Learning for Shared Control Authority Between Deep Reinforcement Learning and Model Predictive Control

    Sep 15, 2026Giray Önür, Azita Dabiri, Bart De SchutterModel Predictive ControlMulti-Agent Reinforcement Learning

    Delft Center for Systems and Control, Delft University of Technology, Delft, The Netherlands

  31. When the World Lies: Backdoor Attacks on Latent World Models for Downstream Control

    Sep 14, 2026Roberto Riaño, Gorka Abad, Stjepan Picek +1Latent World ModelsWorld Models

    Radboud University, The Netherlands · IKERLAN Technology Research Centre, Spain · University of Bergen, Norway +1

  32. Towards Sustainable Hydrogen Systems: Supply Chain Optimization with Model Predictive Control and Reinforcement Learning

    Sep 14, 2026Mahammad ValiyevHydrogen System ComponentsModel Predictive Control

    Department of Chemical Engineering University of Southern California Los Angeles, California, United States

  33. Driving Context-guided Model Predictive Planning and Control for Autonomous Car Racing at the Limit and Beyond

    Sep 14, 2026Ayoub Raji, Federico Sacco, Nicola Musiu +1Autonomous RacingModel Predictive Control

    University of Modena and Reggio Emilia, 41125 Modena, Italy · Hipert S.r.l., Modena, Italy

  34. A Data-Driven Distributed Control Scheme: Learning Multi-Objective Agent-Based MPC for Path-Tracking

    Sep 14, 2026Jiaming Zhong, Reza Valiollahi Mehrizi, Yash Vardhan Pant +1Model Predictive ControlData-Driven

    Mechatronic Vehicle Systems (MVS) Lab, Department of Mechanical and Mechatronics Engineering, University of Waterloo, 200 University Ave West, Waterloo ON, N2L3G1 Canada · Control, Learning, and Logic (CL2) group, Department of Electrical and Computer Engineering, University of Waterloo, 200 University Ave West, Waterloo ON, N2L3G1 Canada

  35. Battery-Aware Predictive Trajectory Planning and Control for Multirotors Under Disturbances

    Sep 14, 2026Krishna Bhavithavya KidambiQuadrotorModel Predictive Control

    department of Mechanical and Aerospace Engineering at University of Dayton, Dayton, OH.

  36. Multi-Objective Agent-Based Model Predictive Controller for Plug-and-Play Vehicle Control

    Sep 14, 2026Jiaming Zhong, Ladan Khoshnevisan, Shucheng Huang +3Model Predictive ControlCoordination

    Department of Mechanical and Mechatronics Engineering, University of Waterloo, 200 University Ave West, Waterloo ON, N2L3G1 Canada · Department of Mechanical Engineering, University of Ottawa, 75 Laurier Ave East, Ottawa, ON, K1N 6N5 Canada · Department of Electrical and Computer Engineering, University of Waterloo, 200 University Ave West, Waterloo ON, N2L3G1 Canada

  37. Global Path Planner with Multi-Model Switching

    Sep 14, 2026Pietro Gori, Francesco Iotti, Eduard Zelenay +5Path PlanningQuadrotor

    Centro di Ricerca “Enrico Piaggio” and the Dipartimento di Ingegneria dell’Informazione, Universit`a di Pisa, Largo Lucio Lazzarino 1, 56126 Pisa, Italy · Institute of Robotics and Cybernetics, Faculty of Electrical Engineering and Information Technology, Slovak University of Technology in Bratislava, Ilkovicova 3, 812 19 Bratislava, Slovakia · Panza Robotics, National Center of Robotics, Ilkovicova 3, 841 04 Bratislava, Slovakia +1

  38. Real-World Reinforcement Learning with MPC Scaffolding for Dexterous Manipulation

    Sep 14, 2026Emek Barış Küçüktabak, Karankumar Patel, Zhaodong Yang +3Reinforcement Learning ControlModel Predictive Control

    Honda Research Institute USA, San Jose, CA, USA · Skild AI, San Mateo, CA, USA · Georgia Institute of Technology, Atlanta, GA, USA

  39. Primitive-Informed Sampling-Based MPC for Multi-Fingered Dexterous Manipulation

    Sep 14, 2026Emek Barış Küçüktabak, Karankumar Patel, Jinda Cui +3Model Predictive ControlDeformable Linear Objects

    Honda Research Institute USA, San Jose, CA, USA · Georgia Institute of Technology, Atlanta, GA, USA (Work done during an internship at HRI)

  40. Language-Guided Terrain-Adaptive Neural MPC for Autonomous Traversal of Articulated Tracked Robots

    Sep 11, 2026Zhenfeng Gan, Yanbo Chen, Lirong Che +3Autonomous NavigationRobot Systems

  41. Very Exciting: Zero-Shot Model Predictive Control of Buildings via Excitation-Based Generalized Transfer Learning Models

    Sep 11, 2026Fabian Raisch, Felix Koch, Zack Xuereb Conti +2Model Predictive ControlTransfer Learning

    Technical University of Applied Sciences Rosenheim, Hochschulstraße 1, Rosenheim, 83024, Germany · Technical University of Munich, Arcisstraße 21, Munich, 80333, Germany · Karlsruhe Institute of Technology, Hermann-von-Helmholtz-Platz 1, Eggenstein-Leopoldshafen, 76344, Germany +1

  42. Contact-Aware Incremental Model Predictive Control for an Underactuated Aerial Manipulator

    Sep 11, 2026Darwin Liu, Tamas Keviczky, Sihao SunUnderactuated DynamicsAerial Manipulation

    Faculty of Mechanical Engineering, Delft University of Technology

  43. Learning Agent-based Model Predictive Control for Holistic Vehicle Performance

    Sep 11, 2026Jiaming Zhong, Reza Valiollahi Mehrizi, Mohammad Pirani +4Model Predictive ControlGaussian Process

    Mechatronic Vehicle Systems (MVS) Lab, Department of Mechanical and Mechatronics Engineering, University of Waterloo, 200 University Ave West, Waterloo ON, N2L3G1 Canada · Department of Mechanical Engineering, University of Ottawa, 75 Laurier Ave East, Ottawa, ON, K1N 6N5 Canada · General Motors Company, Warren, MI 48090 USA +1

  44. AccelMPC: High-Rate, Low-Power FPGA-Accelerated Model Predictive Control for Tiny Drones

    Sep 8, 2026Andrea Grillo, Brian PlancherAutonomous DronesModel Predictive Control

    Dartmouth College · École Polytechnique Fédérale de Lausanne

  45. Online, Reachability-Aware, Sampling-Based Motion Planning

    Sep 8, 2026Brendan Gould, Zhiyuan Zhang, Panagiotis Tsiotras +1Model Predictive ControlMotion Planning

  46. Model Predictive Control of Tensegrity Robots via Contact-Aware Graph Neural Dynamics Model

    Sep 8, 2026Nelson Chen, Patrick Meng, Charles Tang +5Model Predictive ControlRobot Systems

    Computer Science, Rutgers University, Piscataway, NJ, USA. · Mechanical Engineering, Yale University, New Haven, CT, USA.

  47. Anti-Gravity Walking by a Flying Humanoid Robot via Thrust-Rate Input Whole-Body Model Predictive Control

    Sep 7, 2026Kazuki Sugihara, Kei OkadaWhole-Body ControlBidirectional Thrust

    Department of Mechano-Informatics, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan.

  48. CST-WM: A Causally Structured World Model for Embodied Visual Tracking

    Sep 5, 2026Junyi Hu, Shuaihang Yuan, Jiazhao Liang +1Efficient World-Action ModelWorld Models

    New York University Abu Dhabi

  49. Predictive Zonotope Reduction: Precise Runtime Monitoring under Uncertainty

    Sep 3, 2026Vladimir Krsmanovic, Florian Kohn, Bernd Finkbeiner +1Model Predictive ControlUncertainty

    CISPA Helmholtz Center for Information Security · Technical University of Munich · beanTech

  50. Latent Energy Action Planning with World Models

    Sep 3, 2026Phu Pham, Aniket BeraLatent World ModelsLow-Latency Latent Planning

    Department of Computer Science, Purdue University, USA

  51. Koopman-Based Robust Model Predictive Control for Nonlinear Systems with Stochastic Intermittent Measurements

    Sep 2, 2026Guanhua Liu, Tong Wu, Lixian Zhang +2Model Predictive ControlClosed-Loop Feedback

    State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, China · School of Astronautics, Harbin Institute of Technology, China · Nanyang Environment and Water Research Institute (NEWRI), Nanyang Technological University, Singapore

  52. Real-Time Dynamics-Based Torque-Sampling MPPI for Compliant and Force Aware Manipulation

    Sep 2, 2026Euncheol Im, Taehyun Kim, Yonghwan Oh +2Model Predictive Path IntegralTorque

    The Center for Humanoid Research, Korea Institute of Science and Technology (KIST), 02792 Seoul, South Korea · The School of Electrical Engineering, Korea University, 02841 Seoul, South Korea

  53. Accelerating Reinforcement Learning via MPC Solver-Gradient Guidance for Weights-varying MPC

    Sep 1, 2026Baha Zarrouki, Arslan Thobani, Jasper Hoffmann +6Offline Reinforcement LearningModel Predictive Control

  54. ProxPI: Proximal Prior Injection for Sampling-Based MPC under Learned-Prior Mismatch

    Sep 1, 2026Euncheol Im, Myotaeg Lim, Yisoo LeeModel Predictive Path IntegralProximal Policy Optimization

    Center for Humanoid Research, Korea Institute of Science and Technology (KIST), 02792 Seoul, South Korea · School of Electrical Engineering, Korea University, 02841 Seoul, South Korea

  55. SUN: Persistent Programs For Language-Grounded Control-to-Learning-to-Real Policies

    Aug 31, 2026Weiqi Wang, Zhi Li, Yudong Lei +7Long-Horizon ManipulationModel Predictive Control

    University of California, Los Angeles · University of California, Santa Barbara · Amazon +1

  56. Provably Safe Decentralized Contingency MPC under State-Only Information and Limited Sensing for Nonlinear Multi-agent Systems

    Aug 31, 2026Max Studt, Georg SchildbachArtificial Intelligence ControlModel-Based Multi-Agent Systems

    Institute for Electrical Engineering in Medicine of the University of Luebeck, Germany

  57. A Hybrid PEM-GP Framework for Uncertainty-Aware System Identification of Quadcopters

    Aug 31, 2026Abdallah Ghoul, Ismail Khalil Bousserhane, Kadri BoufeldjaSystem IdentificationQuadrotor

    Electrical Engineering Department, University of Bechar, Bechar 08000, Algeria

  58. The PUR-1 Cyber-Physical Digital Twin

    Aug 31, 2026Vasileios Theos, Jonah Lau, Konstantinos Gkouliaras +7Cognitive Digital TwinsDigital Twins

    School of Nuclear Engineering, Purdue University, West Lafayette, IN 47907

  59. A Multi-Modal AI Framework for Real-Time Queue Prediction, Management and Optimisation in Intelligent Border Control Systems

    Aug 27, 2026Varvara Mama, Eleni Veroni, Nikolaos Kapsalis +2Traffic Signal ControlQueue Control

    Department of Electronic Engineering, Hellenic Mediterranean University, Chania, Greece, Crete, Greece · School of Electrical and Computer Engineering, National Technical University of Athens, Athens, Greece, Athens, Greece

  60. Algorithmic Information Dynamics of Learning: A Certified, Differentiable Complexity Controller for Grokking

    Aug 14, 2026Luan Ozelim, Abicumaran Uthamacumaran, Hector ZenilLearning DynamicsGradient-Based Optimization

    Oxford Immune Algorithmics, Oxford University Innovation & London Institute for Healthcare Engineering, U.K · Department of Biomedical Computing, School of Biomedical Engineering and Imaging Sciences & King’s Institute for AI, King’s College London, U.K