Belvedere, Tommaso;
Ziegltrum, Michael;
Turrisi, Giulio;
Modugno, Valerio;
(2026)
Feedback-MPPI: Fast Sampling-Based MPC via Rollout Differentiation - Adios Low-Level Controllers.
IEEE Robotics and Automation Letters
, 11
(1)
pp. 1-8.
10.1109/LRA.2025.3630871.
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Abstract
Model Predictive Path Integral control is a powerful sampling-based approach suitable for complex robotic tasks due to its flexibility in handling nonlinear dynamics and non-convex costs. However, its applicability in real-time, high-frequency robotic control scenarios is limited by computational demands. This paper introduces Feedback-MPPI (F-MPPI), a novel framework that augments standard MPPI by computing local linear feedback gains derived from sensitivity analysis inspired by Riccati-based feedback used in gradient-based MPC. These gains allow for rapid closed-loop corrections around the current state without requiring full re-optimization at each timestep. We demonstrate the effectiveness of F-MPPI through simulations and real-world experiments on two robotic platforms: a quadrupedal robot performing dynamic locomotion on uneven terrain and a quadrotor executing aggressive maneuvers with onboard computation. Results illustrate that incorporating local feedback significantly improves control performance and stability, enabling robust, high-frequency operation suitable for complex robotic systems.
| Type: | Article |
|---|---|
| Title: | Feedback-MPPI: Fast Sampling-Based MPC via Rollout Differentiation - Adios Low-Level Controllers |
| Open access status: | An open access version is available from UCL Discovery |
| DOI: | 10.1109/LRA.2025.3630871 |
| Publisher version: | https://doi.org/10.1109/lra.2025.3630871 |
| Language: | English |
| Additional information: | This version is the author accepted manuscript. For information on re-use, please refer to the publisher’s terms and conditions. |
| Keywords: | Computational modeling, Costs, Legged locomotion, legged robots, model predictive control, MODEL-PREDICTIVE CONTROL, motion control, Optimal control, Optimization and optimal control, Quadrupedal robots, Real-time systems, Robotics, Robots, Science & Technology, Standards, System dynamics, Technology, Trajectory |
| UCL classification: | UCL UCL > Provost and Vice Provost Offices > UCL BEAMS UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Computer Science |
| URI: | https://discovery.ucl.ac.uk/id/eprint/10218402 |
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