A variant of Model Predictive Path Integral control that uses unscented transform particles to capture stochastic mode switching in other agents, demonstrated in social navigation simulations.
Hybrid systems differential dynamic programming for whole-body motion planning of legged robots,
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Risk-aware MPPI for Stochastic Hybrid Systems
A variant of Model Predictive Path Integral control that uses unscented transform particles to capture stochastic mode switching in other agents, demonstrated in social navigation simulations.