Roya Khalili Amirabadi

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...