SCRAMPPI: Contingency-Constrained Planning using Hamilton-Jacobi Reachability

arXiv:2603.26995 · cs.RO · Submitted 2026-03-27 · Read on arXiv

cs.RO

Submitted: 2026-03-27

Updated: 2026-09-20

Code: https://github.com/StanfordASL/hj

Terminology

• Resampling-Based Rollout — 5× in this paper
• Model Predictive Path Integral — 4× in this paper
• Sample Efficiency — 2× in this paper · explained in 4 episodes
• Verification — 2× in this paper · explained in 2 episodes
• Accuracy — 1× in this paper · explained in 1 episode
• Mode Collapse — 1× in this paper · explained in 2 episodes
• Model Predictive Path Integral (MPPI) — 1× in this paper · explained in 3 episodes
• Trace — 1× in this paper · explained in 2 episodes
• While Hamilton-Jacobi — 1× in this paper

Sources

• Contingency Model Predictive Control for Linear Time-Varying Systems
• HJRNO: Hamilton-Jacobi Reachability with Neural Operators
• Safe Importance Sampling in Model Predictive Path Integral Control
• Guaranteed-Safe MPPI Through Composite Control Barrier Functions for Efficient Sampling in Multi-Constrained Robotic Systems

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