2026
Feedback-MPPI: Fast Sampling-Based MPC Via Rollout Differentiation – Adios Low-Level Controllers
ICRA 2026poster
Model Predictive Path Integral control is a powerful sampling-based approach suitable for complex robotic tasks due to its flexibility in handling nonlinear dynamics and non-convex costs. However, its applicability in real-time, high-frequency robotic control scenarios is limited by computational de…