MPPI Control

MPPI: Model Predictive Path Integral

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Overview

MPPI control repeatedly simulates candidate action sequences, weights them by their predicted costs, and applies the best-informed action before replanning from the latest state. It is useful for nonlinear, contact-rich, or otherwise difficult-to-optimize systems, including robots, drones, and vehicles. Common approaches improve sampling with feedback policies, motion primitives, or learned priors; accelerate rollouts with GPU simulation or learned dynamics; and incorporate safety through constraints, barrier functions, or uncertainty-aware costs. A central challenge is balancing computation and model accuracy with reliable safety: sparse samples and model mismatch can misrank trajectories, while averaging distinct good behaviors can produce a poor action.

Latest papers

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40 papers4 papers in the last four weeks, down 50% on the four weeks before. 0.0% of all new papers.

  1. CLIS-MPPI: Closed-Loop Model Predictive Path Integral Control With Initial-State Sampling Under Execution Delay

    Oct 15, 2026Zidong Liu, Xu ChenMPPI ControlRobot Motion Planning

    Department of Mechanical Engineering, University of Washington, Seattle, WA, USA.

  2. LLA-MPPI: Rapidly Adaptive Whole-body Control of Legged Robots with GPU-Accelerated Parallel Simulations

    Oct 7, 2026Sebin Jung, Maitham F. AL-Sunni, Juan Alvarez-Padilla +3Legged RoboticsRobot Locomotion

    Carnegie Mellon University, Pittsburgh, PA, USA · Massachusetts Institute of Technology, Cambridge, MA, USA

  3. Reachability-Guided Sequential Quadratic Programming-Guarded Model Predictive Path Integral for Safe Nonlinear Predictive Control

    Oct 3, 2026Alexandre Didier, Jason J. Choi, Namhoon Cho +2Model Predictive ControlNonlinear MPC

    Institute for Dynamic Systems and Control, ETH Zurich, 8092 Zurich, Switzerland. · Electrical and Computer Engineering Department, University of California, Los Angeles, CA 90095, USA. · Department of Aerospace Engineering, Seoul National University, Seoul 08826, Republic of Korea. +1

  4. L1-MPPI: L1 Adaptive Model Predictive Path Integral for Agile UAV Control

    Sep 29, 2026Lukáš Kotek, Ondřej Procházka, Vojtěch Vonásek +2Robot Trajectory TrackingQuadrotor Control

    Multi-robot Systems Group, Faculty of Electrical Engineering, Czech Technical University in Prague, Czech Republic

  5. OA-MPPI: Occlusion-Aware Model Predictive Path Integral Control for UAV Flight

    Sep 23, 2026Vittorio Palladino, Teaya Yang, Ruiqi Zhang +1UAV NavigationQuadrotor Control

    High Performance Robotics Laboratory, Department of Mechanical Engineering, University of California, Berkeley, CA 94720, United States

  6. Motoneuron-Inspired Sampling for Model Predictive Path Integral Control

    Sep 23, 2026Alexis Poignant, Jan BabičMPPI Control

  7. GEM-MPC: Balancing Exploration and Exploitation through Expert-Guided Planning

    Sep 18, 2026Alvaro Serra-Gomez, Thomas MoerlandRL ExplorationModel-Based Planning

    Leiden Institute of Advanced Computer Science, Leiden University, 2311 EZ Leiden, The Netherlands

  8. Task-Oriented Active Learning of Residual Dynamics for Model Predictive Path Integral Control

    Sep 16, 2026Nobuaki Aoki, Hojin Lee, Stefan Sosnowski +1Residual LearningResidual Dynamics Learning

    Chair of Information-oriented Control (ITR), Department of Electrical and Computer Engineering, Technical University of Munich, Munich, Germany · Munich Institute of Robotics and Machine Intelligence (MIRMI), Technical University of Munich, Munich, Germany

  9. VLM-MPPI: Grounding Natural Language in Behaviorally Diverse Trajectories for Aerial Navigation

    Sep 16, 2026Hanbing Zhang, Fangguo Zhao, Zerui Li +3UAV NavigationVision-Language Navigation

    College of Control Science and Engineering, Zhejiang University, Hangzhou 310027, China · Australian Institute for Machine Learning, Adelaide University

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

    Sep 8, 2026Nelson Chen, Patrick Meng, Charles Tang +5Robotic ControlRobot Dynamics Identification

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

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

    Sep 2, 2026Euncheol Im, Taehyun Kim, Yonghwan Oh +2Robotic ControlModel Predictive Control

    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

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

    Sep 1, 2026Euncheol Im, Myotaeg Lim, Yisoo LeeDistribution ShiftModel Predictive Control

    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

  13. Safety-aware Model Predictive Path Integral Control with Signal Temporal Logic

    Aug 25, 2026Yiqi Zhao, Taekyung Kim, Hideki Okamoto +4STL Motion PlanningSafe Motion Planning

    Thomas Lord Department of Computer Science, University of Southern California, Los Angeles, CA 90089, USA · Department of Robotics, University of Michigan, Ann Arbor, MI 48109, USA · Toyota Motor North America R&D, Ann Arbor, MI 48105, USA +1

  14. Hybrid Feedback Sampling for Sample-Efficient Model Predictive Control

    Aug 19, 2026Chaoyi Pan, Zeji Yi, John Zhang +3Model Predictive ControlRobotic Control

    Department of Electrical and Computer Engineering, Carnegie Mellon University, Pittsburgh, PA 15213, USA · Department of Aeronautics and Astronautics, Massachusetts Institute of Technology, Cambridge, MA 02139, USA · Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15213, USA

  15. Progressive Experience Fusion for Multi-Task World Model Control in Endovascular Navigation

    Aug 19, 2026Harry Robertshaw, Maxence Boels, Nikola Fischer +4Robotic Endovascular InterventionRobot Policy Adaptation

    Surgical & Interventional Engineering, School of Biomedical Engineering & Imaging Sciences, King’s College London, UK · Department of Neuroradiology, King’s College Hospital, UK

  16. MPPI Planning with Gaussian-Based Human Cost Function for Social Navigation

    Aug 8, 2026Chinmay MundaneSocial Robot NavigationSafe Motion Planning

    VJTI, India

  17. Projection-Retraction MPPI: Exact Constraint-Manifold Control for Manipulators

    Aug 4, 2026Seulchan Lee, Leesai Park, Minhyeong Kang +1Robotic ControlConstrained Motion Planning

    School of Mechanical Engineering, Kyung Hee University, Yongin-si 17104, Republic of Korea · Institutes of Convergence Technology, Suwon-si 16229, Republic of Korea

  18. Information-Theoretic Adaptive Cooling for Deterministic MPPI via Entropy Feedback

    Jul 15, 2026Shuqi Wang, Wenrong Sun, Tao Han +2Stochastic Optimization ConvergenceMPPI Control

    School of Automation & Intelligent Sensing, Shanghai Jiao Tong University, Shanghai 200240, China · Department of Physics, The Hong Kong University of Science and Technology, Hong Kong S.A.R., China

  19. Adaptive MPPI with Online Disturbance Covariance Estimation: Provable Stability Tightening via Spatial Smoothing

    Jul 9, 2026Hyung-Jin Yoon, Hunmin KimLyapunov StabilityStochastic Approximation

    Department of Mechanical and Nuclear Engineering, Tennessee Technological University, Cookeville, TN, USA

  20. Residual-Conservative Model Predictive Path Integral Control

    Jul 8, 2026Hyung-Jin Yoon, Hunmin KimModel Predictive ControlConstrained Optimization

    Department of Mechanical and Nuclear Engineering, Tennessee Technological University, Cookeville, TN, USA

  21. Clustering-Embedded Model Predictive Path Integral Control: Avoiding Averaging-Induced Failure and Enabling Efficient Cluster Selection for Dynamic Obstacles

    Jul 7, 2026Zidong Liu, Kaixin Chang, Xu ChenMPPI ControlDynamic Obstacle Avoidance

    Department of Mechanical Engineering, University of Washington, Seattle, WA, USA.

  22. MP-MPPI: A Motion Primitive Guided Sampling-Based Optimizer for Model Predictive Control

    Jul 7, 2026Marlon Mathisen, Aksel Vaaler, Olav Egeland +1Model Predictive ControlMotion Planning

    *Norwegian University of Science and Technology, Dept. of Mechanical and Industrial Engineering, Norway

  23. Finite-Sample Closed-Loop Stability of Model Predictive Path Integral Control for Linear Time-Invariant Systems

    Jul 4, 2026Hyung-Jin Yoon, Hunmin KimDynamical SystemsStochastic Linear Dynamical Systems

    Department of Mechanical and Nuclear Engineering, Tennessee Technological University, Cookeville, TN, USA

  24. RGB: RL Guided Whole-Body MPPI for Humanoid Control

    Jun 23, 2026Yunsoo Seo, Sol Choi, Euncheol Im +2Robot Trajectory TrackingHumanoid Robot Control

    Center for Humanoid Research, Korea Institute of Science and Technology (KIST), 02792 Seoul, South Korea · University of Texas at Austin, Austin, Texas 78712, USA · Department of Mechanical Engineering, Yonsei University, 03722, Seoul, South Korea +1

  25. HOLO-MPPI: Multi-Scenario Motion Planning via Hierarchical Policy Optimization

    Jun 15, 2026Youngjae Min, Jovin D'sa, Faizan M. Tariq +3Hierarchical RLMotion Planning

    1Massachusetts Institute of Technology, Cambridge, MA 02139. · 2Honda Research Institute, USA, San Jose, CA, 95134.

  26. Chance-Constrained MPPI under State and Dynamic Object Prediction Uncertainty and the Evaluation of Collision Risk Calibration

    May 27, 2026Benjamin Serfling, Konrad Doll, Kati Radkhah-LensChance-Constrained Motion PlanningSafe Motion Planning

    University of Applied Sciences Aschaffenburg, Aschaffenburg, Germany

  27. Manifold-Constrained MPPI: Real-Time Sampling-Based Control for Nonlinear Equality-Constrained Robotic Systems

    May 24, 2026Seulchan Lee, Sanghyun KimRobotic ControlConstrained Motion Planning

    School of Mechanical Engineering, Kyung Hee University, Yongin, South Korea

  28. Neural Distance-Guided Path Integral Control for Tractor-Trailer Navigation

    May 11, 2026Peng Wei, Chen Peng, Stavros VougioukasRobot NavigationMPPI Control

    Department of Biological and Agricultural Engineering, University of California Davis, Davis, CA 95616 USA · ZJU-Hangzhou Global Scientific and Technological Innovation Center, Zhejiang University, Hangzhou, 311215, China

  29. ELVIS: Ensemble-Calibrated Latent Imagination for Long-Horizon Visual MPC

    May 6, 2026Yurui Du, Pinhao Song, Yutong Hu +1Visual SSMsModel Predictive Control

    KU Leuven, Dept. Electrical Engineering, Research unit Processing Speech and Images, B-3000 Leuven, Belgium · Flanders Make at KU Leuven, B-3000 Leuven, Belgium · KU Leuven, Dept. Mechanical Engineering, Research unit Robotics, Automation and Mechatronics, B-3000 Leuven, Belgium

  30. Robust Path Tracking for Vehicles via Continuous-Time Residual Learning: An ICODE-MPPI Approach

    May 5, 2026Shugen Song, Wenjie Mei, Chengyan ZhaoNonlinear MPCResidual Learning

    School of Automation, Southeast University, Nanjing 210096, China · School of Automation and the Key Laboratory of MCCSE of the Ministry of Education, Southeast University, Nanjing 210096, China · Graduate School of Computer Science and Systems Engineering, Kyushu Institute of Technology, 680-4 Kawazu, Iizuka-shi, Fukuoka, Japan