A belief-space MPPI controller with CVaR safety constraints achieves 82% success and zero contact violations in uncertain robotic insertion simulations, outperforming risk-neutral and chance-constrained baselines.
High-Order Control Barrier Functions
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Risk-Constrained Belief-Space Optimization for Safe Control under Latent Uncertainty
A belief-space MPPI controller with CVaR safety constraints achieves 82% success and zero contact violations in uncertain robotic insertion simulations, outperforming risk-neutral and chance-constrained baselines.