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Ahmad Amine

2 accepted papers

2026

SIT-LMPC: Safe Information-Theoretic Learning Model Predictive Control for Iterative Tasks

Zirui Zang, Ahmad Amine, Nick-Marios T. Kokolakis, Truong X. Nghiem, Ugo Rosolia, Rahul Mangharam
RA-L 2026

Robots executing iterative tasks in complex, uncertain environments require control strategies that balance robustness, safety, and high performance. This paper introduces a safe information-theoretic learning model predictive control (SIT-LMPC) algorithm for iterative tasks. Specifically, we design

Cited by 2Source ↗code ↗Scholar ↗
2026

SIT-LMPC: Safe Information-Theoretic Learning Model Predictive Control for Iterative Tasks

Zirui Zang, Ahmad Amine, Nick-Marios Kokolakis, Truong Xuan Nghiem, Ugo Rosolia, Rahul Mangharam
ICRA 2026poster

Robots executing iterative tasks in complex, uncertain environments require control strategies that balance robustness, safety, and high performance. This paper introduces a safe information-theoretic learning model predictive control (SIT-LMPC) algorithm for iterative tasks. Specifically, we design…

Cited by 0Source ↗PDF ↗Scholar ↗