Using a variational integrator inside MPPI rollouts lets the controller plan 4-20 times further ahead, improving balance uptime on underactuated double pendulums.
Open source dual-purpose acrobot and pendubot platform: Bench- marking control algorithms for underactuated robotics,
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VIMPPI: Enhancing Model Predictive Path Integral Control with Variational Integration for Underactuated Systems
Using a variational integrator inside MPPI rollouts lets the controller plan 4-20 times further ahead, improving balance uptime on underactuated double pendulums.