VIMPPI: Enhancing Model Predictive Path Integral Control with Variational Integration for Underactuated Systems
Year: 2025
Type: preprint
Abstract: This paper presents VIMPPI, a novel control approach for underactuated double pendulum systems developed for the AI Olympics competition. We enhance the Model Predictive Path Integral framework by incorporating variational integration techniques, enabling longer planning horizons without additional computational cost. Operating at 500-700 Hz with control interpolation and disturbance detection mechanisms, VIMPPI substantially outperforms both baseline methods and alternative MPPI implementations
Source: arXiv (Cornell University)
Authors: Alentev, Igor, Kozlov, Lev, Domrachev, Ivan, Nedelchev, Simeon, Ryu, Jee-Hwan
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: green
OpenAlex ID: W4417084342
Cites:
Cited by:
Related to: