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.
Stochastic hybrid model predictive control using gaussian processes for systems with piecewise residual dynamics,
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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.