In this paper we propose an adaptive model predictive path integral (MPPI) controller for legged robots to achieve smooth and accurate path tracking along the pre-designed path. To address the ...
Abstract: In this paper, we describe a general procedure to use Model Predictive Path Integral(MPPI) control algorithm with model-sampling to solve classic robot tasks. First, the Gaussian Mixture ...
MPPI-Generic is a C++/CUDA header-only library implementation of Model Predictive Path Integral Control (MPPI) by Williams et al. @misc{vlahov2024mppi, title={MPPI-Generic: A CUDA Library for ...
Some results have been hidden because they may be inaccessible to you
Show inaccessible results