Task-Oriented Active Learning of Residual Dynamics for Model Predictive Path Integral Control

arXiv:2609.19378 · cs.RO, cs.SY, eess.SY · Submitted 2026-09-16 · Read on arXiv

cs.RO, cs.SY, eess.SY

Submitted: 2026-09-16

Updated: 2026-09-16

Terminology

• Passive GP — 16× in this paper
• Active Learning — 8× in this paper · explained in 6 episodes
• Ablation — 5× in this paper · explained in 1 episode
• Adaptation — 3× in this paper · explained in 1 episode
• Information Gain — 3× in this paper · explained in 2 episodes
• Reinforcement Learning — 3× in this paper · explained in 4 episodes
• Task-Oriented Information Acquisition — 3× in this paper
• Ablation study — 2× in this paper · explained in 1 episode
• Active Exploration — 1× in this paper · explained in 2 episodes
• Benchmarking — 1× in this paper · explained in 3 episodes
• Closed-Loop Control — 1× in this paper · explained in 2 episodes
• Gaussian Processes (GPs) — 1× in this paper · explained in 2 episodes
• Meta-learning — 1× in this paper · explained in 2 episodes
• Model Predictive Path Integral (MPPI) — 1× in this paper · explained in 3 episodes
• Regret — 1× in this paper · explained in 3 episodes
• Sample Efficiency — 1× in this paper · explained in 4 episodes
• Steering — 1× in this paper · explained in 2 episodes

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