IEEE

Harmonic Path Integral Diffusion

Abstract: Harmonic Path Integral Diffusion (H-PID) introduces a novel approach to sampling from complex, continuous probability distributions by creating a time-dependent “bridge” from an initial ...
IEEE

Risk-Aware Model Predictive Path Integral Control Using Conditional Value-at-Risk

Abstract: In this paper, we present a novel Model Predictive Control method for autonomous robot planning and control subject to arbitrary forms of uncertainty. The proposed Risk-Aware Model ...
GitHub

Stein Variational Guided Model Predictive Path Integral Control (SVG-MPPI)

This package includes ROS implementation of Stein Variational Guided Model Predictive Path Integral Control: Proposal and Experiments with Fast Maneuvering Vehicles presented in ICRA 2024.
GitHub

A Simple Python Implementation of Information-Theoretic Model Predictive Path Integral Controller

A simple python implementation of Information-Theoretic Model Predictive Path-Integral (MPPI) controller introduced by G. Williams et al. in their 2018 paper. This project is based on the work by ...