MPPI is re-derived as EM on a probabilistic optimal control problem, producing a generalized EM-MPPI algorithm with convergence analysis for exponential families and explicit Gaussian cases.
Pa-mppi: Perception-aware model predictive path integral control for quadrotor navigation in unknown environments
2 Pith papers cite this work. Polarity classification is still indexing.
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Pith papers citing it
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2026 2verdicts
UNVERDICTED 2representative citing papers
CaMeRL adds collision-aware latent representations and temporal memory to RL for UAV navigation, claiming success-rate gains of 0.48 and 0.28 on ultra-small and extra-large obstacle tasks plus reliable outdoor performance.
citing papers explorer
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Generalized Model Predictive Path Integral Control as Expectation--Maximization
MPPI is re-derived as EM on a probabilistic optimal control problem, producing a generalized EM-MPPI algorithm with convergence analysis for exponential families and explicit Gaussian cases.
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CaMeRL: Collision-Aware and Memory-Enhanced Reinforcement Learning for UAV Navigation in Multi-Scale Obstacle Environments
CaMeRL adds collision-aware latent representations and temporal memory to RL for UAV navigation, claiming success-rate gains of 0.48 and 0.28 on ultra-small and extra-large obstacle tasks plus reliable outdoor performance.