Author

Q. Nguyen

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Preprint Oct 2026

Task-Space Motion-Force Nonlinear Model Predictive Control for Precise and Compliant Control under Uncertainties

In Nonlinear Model Predictive Control (NMPC), the control law is implicitly determined by the solution of an Optimal Control Problem (OCP). Consequently, OCP design is often tailored to specific platforms and tasks, demanding extensive expert knowledge and tuning effort. To address this, we propose a unified NMPC frame...

Q. Nguyen, Ludovic Righetti · 1 citation

#artificial intelligence Preprint Oct 2026

VAMPS: Visual and Motor Policies from Sampling-Based Planning

Learning robot policies directly on physical systems remains difficult because data collection is costly and policy exploration can be unsafe. We introduce Visual and Motor Policies from Sampling-Based Planning (VAMPS), a framework that uses Model Predictive Path Integral (MPPI) control to train reusable policies witho...

Mohamed Yassine Kabouri, Pietro Noah Crestaz, Q. Nguyen et al. · 0 citations