Sampling-based Model Predictive Control Using Trust Regions

arXiv:2605.07801 · eess.SY, cs.SY · Submitted 2026-05-08 · Read on arXiv

eess.SY, cs.SY

Submitted: 2026-05-08

Updated: 2026-09-22

Code: https://github.com/KIT-ISAS/deterministic_

Terminology

• Sample Efficiency — 13× in this paper · explained in 4 episodes
• Adaptation — 6× in this paper · explained in 1 episode
• Benchmark — 4× in this paper · explained in 2 episodes
• Model Predictive Control (MPC) — 3× in this paper · explained in 5 episodes
• Core — 2× in this paper · explained in 2 episodes
• Model Predictive Path Integral (MPPI) — 2× in this paper · explained in 3 episodes
• Reinforcement Learning — 2× in this paper · explained in 4 episodes
• Action Space — 1× in this paper · explained in 1 episode
• Algorithmic Improvements — 1× in this paper · explained in 1 episode
• Intelligent Sensor-Actuator-Systems Laboratory — 1× in this paper
• Reinforcement Learning (RL) — 1× in this paper · explained in 25 episodes
• Reward Function — 1× in this paper · explained in 2 episodes
• Robustness — 1× in this paper · explained in 5 episodes

Sources

• Smooth Sampling-Based Model Predictive Control Using Deterministic Samples
• A randomized Halton algorithm in R

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