arxiveess.SYcs.RO2026-07-15
Information-Theoretic Adaptive Cooling for Deterministic MPPI via Entropy Feedback
Shuqi Wang, Wenrong Sun, Tao Han, Yue Gao, Xiang Yin
This paper investigates deterministic optimal control using Model Predictive Path Integral (MPPI) control, a sampling-based and derivative-free framework well suited for systems with complex dynamics and nonsmooth objectives. In deterministic MPPI, the temperature must be driven…