Author

Lei-Lei Cui

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Preprint Oct 2026

Exact-Safe MPPI: Safety-Aware Sampling with Nonsmooth Control Barrier Functions

Model predictive path integral (MPPI) control plans actions by sampling and evaluating trajectories, but standard MPPI does not guarantee safety. Incorporating control barrier function (CBF) filters into each rollout allows the planner to account for safety corrections. However, combining multiple CBFs through a soft-m...

Alexander Coker, Lei-Lei Cui · 0 citations

Preprint Sep 2026

Parallel Policy-Gradient Methods for Parameter Optimization of Nonlinear Feedback Controllers

This letter develops a time-parallel policy-gradient framework for discrete-time nonlinear control-affine systems and proves that, for any finite horizon T, the state solver recovers the exact trajectory from any initialization in at most T iterations.

A. Nguyen, Lei-Lei Cui · 0 citations