A reference-free MPPI variant with cubic Hermite spline parameterization discovers diverse emergent gaits and dynamic behaviors in legged robots by optimizing high-level objectives.
On the benefits of gpu sample-based stochastic predictive controllers for legged locomotion,
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Reference-Free Sampling-Based Model Predictive Control
A reference-free MPPI variant with cubic Hermite spline parameterization discovers diverse emergent gaits and dynamic behaviors in legged robots by optimizing high-level objectives.