Abstract: This paper presents an error-state Model Predictive Path Integral (MPPI) framework for tendon-driven continuum robots (TDCRs). Tracking-error dynamics are ...
cuda_mppi/ ├── include/mppi/ │ ├── core/ # Core CUDA kernels and utilities │ ├── controllers/ # MPPI controller implementations │ ├── instantiations/ # Example dynamics models │ └── utils/ # CUDA ...
This is an implementation of a Model Predictive Path Integral (MPPI) controller which uses IsaacGym as a dynamic model for the rollouts. We provide several examples of what tasks you can solve with it ...
Looking back through the history of automation, it’s not difficult to see how most advances are extensions of existing technologies. This can be seen at all levels of automation—from the evolution of ...
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