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Author

Mohsen Jalaeian-Farimani

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Preprint Oct 2026

Risk-Constrained MPPI Tuning with Update-Aware MA-ES Racing

We formulate offline tuning of Model Predictive Path Integral (MPPI) controllers as a chance-constrained black-box optimization problem and develop an update-aware framework based on Matrix Adaptation Evolution Strategy (MA-ES). We use statistical information from noisy controller evaluations to determine when the evol...

M. Kimiaei, Roya Khalili Amirabadi, Mohsen Jalaeian-Farimani · 0 citations

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