Author

Sanghyun Kim

h-index 2 View on Semantic Scholar

We have 2 of 7 papers

We haven’t gathered this author’s papers yet. Follow them and we’ll fetch their work.

Not the right person? Other researchers publish under this name.

Preprint Aug 2026

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...

Seulchan Lee, Leesai Park, Minhyeong Kang et al. · 0 citations

Jul 2026

GRACE: Gradient-Free Robot Action Generation via Combined Diffusion-MPPI Posterior Mean Estimation

Gradient-free Robot Action generation via Combined diffusion-MPPI posterior mean Estimation (GRACE), which guides a pretrained diffusion policy with Model Predictive Path Integral (MPPI) control using only forward cost evaluations.

Leesai Park, J. Hong, Sanghyun Kim · arXiv.org · 0 citations