Model Predictive Path Integral Control or MPPI is a sampling-based model predictive control algorithm. The first version of MPPI was presented in ICRA of 2016 [pdf].

The MPPI algorithm is an MPC variant that finds a control velocity for the robot using an iterative approach. Using the previous time step’s best control solution and the robot’s current state, a set of …

MPPI typically requires actual trajectory samples, but this paper showed that it could be done with approximate dynamics (such as with a neural network) using importance sampling.

MPPI Algorithm Overview Model Predictive Path Integral (MPPI) is a stochastic optimal control algorithm that minimizes the cost function (2) the use of sampling.

Feb 27, 2025 · Model Predictive Path Integral (MPPI) control, Reinforcement Learning (RL), and Diffusion Models have each demonstrated strong performance in trajectory optimization, decision …

Model Predictive Path Integral Control (MPPI) is a branch of MPC which leverages the power of statistics to allow for the optimization of non-linear systems minimizing the computational power …

5 days ago · An MPPI control algorithm based on encoder-decoder LSTM is proposed to handle the optimal motion planning problem in clutter environments, and offers a reference method for robot …

3 days ago · MPPI Trajectory Optimization Relevant source files Purpose and Scope This document describes the Model Predictive Path Integral (MPPI) trajectory optimization system implemented in …

Oct 12, 2025 · Model Predictive Path Integral (MPPI) control has recently emerged as a fast, gradient-free alternative to model-predictive control in highly non-linear robotic tasks, yet it offers no hard …

May 6, 2024 · Sampling-based MPC approaches, such as Model Predictive Path Integral (MPPI) control, have shown promise in addressing these complex motion planning problems. However, the …