Hybrid ME-DDP variants combine deterministic DDP with inverse-Hessian sampling to improve success rates over pure DDP and MPPI in robotic navigation under non-convex costs.
IEEE Transactions on Automatic Control 66(10): 4636--4651
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Beyond Pure Sampling: Hybrid Optimization Mechanisms for Non-Convex Model Predictive Control
Hybrid ME-DDP variants combine deterministic DDP with inverse-Hessian sampling to improve success rates over pure DDP and MPPI in robotic navigation under non-convex costs.