COSMIK-MPPI delivers 100% task success and fixed 22 ms runtime for safe robot-human collision avoidance by terminating constraint-violating trajectories instead of penalizing them.
Aggressive driving with model predictive path integral control,
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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.
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COSMIK-MPPI: Scaling Constrained Model Predictive Control to Collision Avoidance in Close-Proximity Dynamic Human Environments
COSMIK-MPPI delivers 100% task success and fixed 22 ms runtime for safe robot-human collision avoidance by terminating constraint-violating trajectories instead of penalizing them.
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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.