Minhyeong Kang

Projection-Retraction MPPI: Exact Constraint-Manifold Control for Manipulators

Model Predictive Path Integral (MPPI) control is widely used in manipulation for its gradient-free, parallel handling of non-convex costs. Manipulation tasks, however, often impose constraints that hold throughout the motion: a closed kinematic chain that two grasping arms keep exactly, or joint limits and obstacle cle...