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Main Authors:	Keshavarz, Hossein, Ramirez-Serrano, Alejandro, Khadiv, Majid
Format:	Preprint
Published:	2025
Subjects:	Robotics
Online Access:	https://arxiv.org/abs/2508.11917
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Learning to Act Through Contact: A Unified View of Multi-Task Robot Learning
by: Omar, Shafeef, et al.
Published: (2025)

Trajectory Optimization under Contact Timing Uncertainties
by: Zhao, Haizhou, et al.
Published: (2024)

SURE: Safe Uncertainty-Aware Robot-Environment Interaction using Trajectory Optimization
by: Zhang, Zhuocheng, et al.
Published: (2026)

Safe Learning of Locomotion Skills from MPC
by: Pua, Xun, et al.
Published: (2024)

Hippo: High-performance Interior-Point and Projection-based Solver for Generic Constrained Trajectory Optimization
by: Zhao, Haizhou, et al.
Published: (2026)

Real-Time Whole-Body Control of Legged Robots with Model-Predictive Path Integral Control
by: Alvarez-Padilla, Juan, et al.
Published: (2024)

Sampling Strategy Design for Model Predictive Path Integral Control on Legged Robot Locomotion
by: Tao, Chuyuan, et al.
Published: (2026)

Physically Consistent Humanoid Loco-Manipulation using Latent Diffusion Models
by: Taouil, Ilyass, et al.
Published: (2025)

Physically-Consistent Parameter Identification of Robots in Contact
by: Khorshidi, Shahram, et al.
Published: (2024)

Simultaneous Contact Sequence and Patch Planning for Dynamic Locomotion
by: Dhédin, Victor, et al.
Published: (2025)

Task and Motion Planning for Humanoid Loco-manipulation
by: Ciebielski, Michal, et al.
Published: (2025)

Contact-conditioned learning of multi-gait locomotion policies
by: Ciebielski, Michal, et al.
Published: (2024)

Consensus-based optimization (CBO): Towards Global Optimality in Robotics
by: Sun, Xudong, et al.
Published: (2026)

DynaRetarget: Dynamically-Feasible Retargeting using Sampling-Based Trajectory Optimization
by: Dhedin, Victor, et al.
Published: (2026)

Object-Informed Model Predictive Path Integral Control for Non-Prehensile Robot Manipulation
by: Raicevic, Nikola, et al.
Published: (2026)

Stein-based Optimization of Sampling Distributions in Model Predictive Path Integral Control
by: Aldrich, Jace, et al.
Published: (2025)

Non-Gaited Legged Locomotion with Monte-Carlo Tree Search and Supervised Learning
by: Taouil, Ilyass, et al.
Published: (2024)

Learning feasible transitions for efficient contact planning
by: Akizhanov, Rikhat, et al.
Published: (2024)

Safe-Night VLA: Seeing the Unseen via Thermal-Perceptive Vision-Language-Action Models for Safety-Critical Manipulation
by: Yu, Dian, et al.
Published: (2026)

Smooth Model Predictive Path Integral Control without Smoothing
by: Kim, Taekyung, et al.
Published: (2021)

Transformer-Based Model Predictive Path Integral Control
by: Zinage, Shrenik, et al.
Published: (2024)

Accelerating Model Predictive Control for Legged Robots through Distributed Optimization
by: Amatucci, Lorenzo, et al.
Published: (2024)

Model Predictive Path Integral Control for Agile Unmanned Aerial Vehicles
by: Minarik, Michal, et al.
Published: (2024)

Low Frequency Sampling in Model Predictive Path Integral Control
by: Vlahov, Bogdan, et al.
Published: (2024)

Performance Evaluation of Trajectory Tracking Controllers for a Quadruped Robot Leg
by: Shojaei, Hossein, et al.
Published: (2025)

Continuously Optimizing Radar Placement with Model Predictive Path Integrals
by: Potter, Michael, et al.
Published: (2024)

Towards Local Minima-free Robotic Navigation: Model Predictive Path Integral Control via Repulsive Potential Augmentation
by: Fuke, Takahiro, et al.
Published: (2024)

SLowRL: Safe Low-Rank Adaptation Reinforcement Learning for Locomotion
by: Daneshmand, Elham, et al.
Published: (2026)

Multi-Modal Model Predictive Path Integral Control for Collision Avoidance
by: Bertipaglia, Alberto, et al.
Published: (2025)

Domain-specific Hardware Acceleration for Model Predictive Path Integral Control
by: Tanguy-Legac, Erwan, et al.
Published: (2026)

Geometric Model Predictive Path Integral for Agile UAV Control with Online Collision Avoidance
by: Pochobradský, Pavel, et al.
Published: (2025)

Model Predictive Path Integral Control of I2RIS Robot Using RBF Identifier and Extended Kalman Filter
by: Esfandiari, Mojtaba, et al.
Published: (2025)

Model Predictive Path Integral PID Control for Learning-Based Path Following
by: Kato, Teruki, et al.
Published: (2026)

BC-MPPI: A Probabilistic Constraint Layer for Safe Model-Predictive Path-Integral Control
by: Ezeji, Odichimnma, et al.
Published: (2025)

Spline-Interpolated Model Predictive Path Integral Control with Stein Variational Inference for Reactive Navigation
by: Miura, Takato, et al.
Published: (2024)

VIMPPI: Enhancing Model Predictive Path Integral Control with Variational Integration for Underactuated Systems
by: Alentev, Igor, et al.
Published: (2025)

An Unsupervised C-Uniform Trajectory Sampler with Applications to Model Predictive Path Integral Control
by: Poyrazoglu, O. Goktug, et al.
Published: (2025)

LP-MPPI: Low-Pass Filtering for Efficient Model Predictive Path Integral Control
by: Kicki, Piotr
Published: (2025)

Model Predictive Path Integral Methods with Reach-Avoid Tasks and Control Barrier Functions
by: Parwana, Hardik, et al.
Published: (2024)

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// Anecdotal testing Today and Yesterday seems to indicate destroy() // is called by the garbage collector and everything is good. // Something to keep in mind though. return 0; } /** * Write function that is called when session data is to be saved. * * @param string $sessId The current session ID * @param string $data The session data to write * * @return bool */ public function write($sessId, $data): bool { if ($this->writesDisabled) { return true; } return $this->saveSession($sessId, $data); } /** * A function that is called internally when session data is to be saved. * * @param string $sessId The current session ID * @param string $data The session data to write * * @return bool */ abstract protected function saveSession($sessId, $data): bool; }

* * @return void */ public function writeClose() { // The assumption is that we're using PHP's ext/session. // session_write_close() will actually overwrite $_SESSION with an // empty array on completion -- which leads to a mismatch between what // is in the storage object and $_SESSION. To get around this, we // temporarily reset $_SESSION to an array, and then re-link it to // the storage object. // // Additionally, while you _can_ write to $_SESSION following a // session_write_close() operation, no changes made to it will be // flushed to the session handler. As such, we now mark the storage // object isImmutable. $storage = $this->getStorage(); if (! $storage->isImmutable()) { $_SESSION = $storage->toArray(true); session_write_close(); $storage->fromArray($_SESSION); $storage->markImmutable(); } } /** * Attempt to set the session name * * If the session has already been started, or if the name provided fails * validation, an exception will be raised. * * @param string $name * @return SessionManager * @throws Exception\InvalidArgumentException */ public function setName($name) { if ($this->sessionExists()) { throw new Exception\InvalidArgumentException( 'Cannot set session name after a session has already started'

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