MPPI Control

MPPI: Model Predictive Path Integral

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5 papers in the last four weeks, against 2 the four weeks before. 0.0% of all new papers.

Jul 13Week of Sep 28
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  1. 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

  2. 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

  3. 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

  4. 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

  5. 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

  6. 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.

  7. 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

  8. 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

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

    Aug 8, 2026Chinmay MundaneSocial Robot NavigationSafe Motion Planning

    VJTI, India

  10. 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

  11. 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

  12. 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

  13. 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

  14. 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.

  15. 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

  16. 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

  17. 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

  18. 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.

  19. 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-LensSafe Motion PlanningMotion Planning

    University of Applied Sciences Aschaffenburg, Aschaffenburg, Germany

  20. 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

  21. 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

  22. 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

  23. 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

  24. RAY-TOLD: Ray-Based Latent Dynamics for Dense Dynamic Obstacle Avoidance with TDMPC

    Apr 30, 2026Seungho Han, Seokju Lee, Jeonguk KangRobot NavigationMPPI Control

    School of Electrical Engineering, Hanyang University, Ansan 15588, South Korea. · Mechatronics, Systems and Control Lab (MSC Lab), Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology (KAIST), Yuseong-gu, Daejeon 34141, South Korea. · Samsung Research, Samsung Electronics, Seoul, South Korea.

  25. Lexicographic Minimum-Violation Motion Planning using Signal Temporal Logic

    Apr 22, 2026Patrick Halder, Lothar Kiltz, Hannes Homburger +2Motion PlanningMPPI Control

    School of Computation, Information and Technology, Technical University of Munich, 85748 Garching, Germany · 2ZF Friedrichshafen AG, 88046 Friedrichshafen, Germany · Institute of System Dynamics, HTWG Konstanz, 78562 Konstanz, Germany

  26. Risk-Constrained Belief-Space Optimization for Safe Control under Latent Uncertainty

    Apr 4, 2026Clinton Enwerem, John S. Baras, Calin BeltaBelief-Space PlanningSafety-Critical Control

    Institute for Systems Research, University of Maryland, College Park, MD, USA

  27. Model Predictive Path Integral PID Control for Learning-Based Path Following

    Mar 31, 2026Teruki Kato, Koshi Oishi, Seigo ItoNonlinear MPCResidual Dynamics Learning

    Toyota Central R&D Labs., Inc., Nagakute 480-1192, Japan

  28. Accelerating Sampling-Based Control via Learned Linear Koopman Dynamics

    Mar 5, 2026Wenjian Hao, Yuxuan Fang, Zehui Lu +1Robotic ControlRobot Trajectory Tracking

    independent researcher

  29. Stein-based Optimization of Sampling Distributions in Model Predictive Path Integral Control

    Nov 3, 2025Jace Aldrich, Odest Chadwicke JenkinsRobotic ControlStochastic Optimal Control

    Laboratory for Perceptive RObotics and Grounded REasoning SystemS and Robotics Department at the University of Michigan, Ann Arbor, USA

  30. BR-MPPI: Barrier-Rate Guided MPPI for Enforcing Multiple Inequality Constraints with Learned Signed Distance Fields

    Jun 8, 2025Hardik Parwana, Taekyung Kim, Kehan Long +4Constrained Motion PlanningControl Barrier Functions

    Robotics Department, University of Michigan, Ann Arbor, MI 48109, USA · Contextual Robotics Institute, University of California San Diego, La Jolla, CA 92093, USA. · Toyota Motor North America, Research & Development, Ann Arbor, MI 48105, USA.