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.
Control barrier function based quadratic programs for safety-critical systems
3 Pith papers cite this work. Polarity classification is still indexing.
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Pith papers citing it
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2026 3representative citing papers
Robust OSCTC framework using ESO for disturbance estimation in task space, robust CBF for safety, and sliding-window conformal prediction for online disturbance bound estimation, demonstrated on 7-DoF Franka arm with mm tracking at 1 kHz.
Safe RL by restricting policies to forward-invariant stabilizing actions, demonstrated on quadcopter hover control.
citing papers explorer
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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.
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Robust Operational Space Control with Conformal Disturbance Bounds for Safe Redundant Manipulation
Robust OSCTC framework using ESO for disturbance estimation in task space, robust CBF for safety, and sliding-window conformal prediction for online disturbance bound estimation, demonstrated on 7-DoF Franka arm with mm tracking at 1 kHz.
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Learning over Forward-Invariant Policy Classes: Reinforcement Learning without Safety Concerns
Safe RL by restricting policies to forward-invariant stabilizing actions, demonstrated on quadcopter hover control.