Sampling Strategy Design for Model Predictive Path Integral Control on Legged Robot Locomotion
Fuente:
arXiv
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| Format: | Preprint |
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2026
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| _version_ | 1866914233006948352 |
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| author | Tao, Chuyuan Wang, Fanxin Jiang, Haolong He, Jia Chen, Yiyang Bu, Qinglei |
| author_facet | Tao, Chuyuan Wang, Fanxin Jiang, Haolong He, Jia Chen, Yiyang Bu, Qinglei |
| contents | Model Predictive Path Integral (MPPI) control has emerged as a powerful sampling-based optimal control method for complex, nonlinear, and high-dimensional systems. However, directly applying MPPI to legged robotic systems presents several challenges. This paper systematically investigates the role of sampling strategy design within the MPPI framework for legged robot locomotion. Based upon the idea of structured control parameterization, we explore and compare multiple sampling strategies within the framework, including both unstructured and spline-based approaches. Through extensive simulations on a quadruped robot platform, we evaluate how different sampling strategies affect control smoothness, task performance, robustness, and sample efficiency. The results provide new insights into the practical implications of sampling design for deploying MPPI on complex legged systems. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2601_01409 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Sampling Strategy Design for Model Predictive Path Integral Control on Legged Robot Locomotion Tao, Chuyuan Wang, Fanxin Jiang, Haolong He, Jia Chen, Yiyang Bu, Qinglei Systems and Control Robotics Model Predictive Path Integral (MPPI) control has emerged as a powerful sampling-based optimal control method for complex, nonlinear, and high-dimensional systems. However, directly applying MPPI to legged robotic systems presents several challenges. This paper systematically investigates the role of sampling strategy design within the MPPI framework for legged robot locomotion. Based upon the idea of structured control parameterization, we explore and compare multiple sampling strategies within the framework, including both unstructured and spline-based approaches. Through extensive simulations on a quadruped robot platform, we evaluate how different sampling strategies affect control smoothness, task performance, robustness, and sample efficiency. The results provide new insights into the practical implications of sampling design for deploying MPPI on complex legged systems. |
| title | Sampling Strategy Design for Model Predictive Path Integral Control on Legged Robot Locomotion |
| topic | Systems and Control Robotics |
| url | https://arxiv.org/abs/2601.01409 |