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Author

Se-Bin Jung

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Preprint Oct 2026

LLA-MPPI: Rapidly Adaptive Whole-body Control of Legged Robots with GPU-Accelerated Parallel Simulations

Real-time whole-body controllers for legged robots typically plan through a fixed nominal model and degrade when the deployed dynamics change. Adaptive methods typically require a model structure that contact dynamics do not provide, or they need offline training for each anticipated condition. We present Look-back and...

Se-Bin Jung, Maitham Al-Sunni, Juan R. Alvarez-Padilla et al. · 0 citations

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