2026
C-Free-Uniform: A Map-Conditioned Trajectory Sampler for Model Predictive Path Integral Control
ICRA 2026poster
Trajectory sampling is a key component of sampling-based control mechanisms. Trajectory samplers rely on control input samplers, which generate control inputs u from a distribution p(u | x) where x is the current state. We introduce the notion of Free Configuration Space Uniformity (C-Free-Uniform f…