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Author

Xian-Tao Sun

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Aug 2026

Adaptive and Smooth Model Predictive Path Integral Control for Highly Dynamic Legged Locomotion

An enhanced model predictive path integral control framework that coordinates adaptive nominal-sequence update and perturbation generation within the standard control loop is proposed, which improves tracking accuracy, disturbance recovery, and contact-force smoothness while preserving the standard rollout-and-reweight...

Xian-Tao Sun, Sijie Li, Bin Lan et al. · 0 citations

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