RC-MPPI uses prediction-execution residuals to adaptively tighten constraints, scale penalties, and relax temperature in MPPI control, reducing constraint violations under model-plant mismatch.
Guaranteed-safe mppi through composite control barrier functions for efficient sampling in multi-constrained robotic systems,
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Residual-Conservative Model Predictive Path Integral Control
RC-MPPI uses prediction-execution residuals to adaptively tighten constraints, scale penalties, and relax temperature in MPPI control, reducing constraint violations under model-plant mismatch.