Motoneuron-Inspired Sampling for Model Predictive Path Integral Control

arXiv:2609.28325 · cs.RO · Submitted 2026-09-23 · Read on arXiv

cs.RO

Submitted: 2026-09-23

Updated: 2026-09-23

Code: https://github.com/fleurssauvages/spikeMPPI

Terminology

• Hysteresis — 9× in this paper · explained in 3 episodes
• Model Predictive Path Integral — 8× in this paper
• Generalization — 6× in this paper · explained in 13 episodes
• Calibration — 3× in this paper · explained in 7 episodes
• Fidelity — 3× in this paper · explained in 2 episodes
• Model Predictive Path Integral (MPPI) — 3× in this paper · explained in 3 episodes
• Robustness — 3× in this paper · explained in 5 episodes
• Consistency — 2× in this paper · explained in 3 episodes
• Core — 2× in this paper · explained in 2 episodes
• IEEE International Conference on Robotics and Automation — 2× in this paper
• Abstraction — 1× in this paper · explained in 1 episode
• Adaptation — 1× in this paper · explained in 1 episode
• Computational Biology — 1× in this paper · explained in 2 episodes
• Computational overhead — 1× in this paper · explained in 2 episodes
• Decode — 1× in this paper · explained in 2 episodes
• Diffusion Processes — 1× in this paper · explained in 2 episodes
• Regret — 1× in this paper · explained in 3 episodes
• Regularization — 1× in this paper · explained in 3 episodes
• Reinforcement Learning — 1× in this paper · explained in 4 episodes
• Sparsity — 1× in this paper · explained in 4 episodes
• Temporal Correlations — 1× in this paper · explained in 2 episodes
• Trace — 1× in this paper · explained in 2 episodes

Sources

• Model Predictive Path Integral Control using Covariance Variable Importance Sampling
• Model Tensor Planning

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