{"ID":6138060,"CreatedAt":"2026-07-09T01:07:32.349475501Z","UpdatedAt":"2026-07-11T01:46:53.511787464Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2607.06950","arxiv_id":"2607.06950","title":"Residual-Conservative Model Predictive Path Integral Control","abstract":"Sampling-based model predictive control methods handle nonlinear dynamics and complex cost landscapes through Monte Carlo rollouts, yet typically employ fixed constraint penalties that do not adapt to model-plant mismatch. This paper proposes Residual-Conservative Model Predictive Path Integral Control (RC-MPPI), a sampling-based MPC framework that modulates safety conservatism online using the prediction-execution residual. RC-MPPI combines three coupled mechanisms: residual-dependent constraint tightening, adaptive safety-cost shaping, and residual-adaptive sampling modulation through exploration contraction and temperature relaxation. The temperature adaptation reflects a key insight: when the model is inaccurate, rollout cost evaluations become unreliable, and increasing temperature reduces overcommitment to apparent cost rankings. Under Lipschitz dynamics and sub-Gaussian disturbances, we derive probabilistic bounds on constraint violation and show that the joint effect of the adaptive mechanisms reduces violation probability as the residual grows. A rollout-cost uncertainty analysis further shows that model-plant mismatch perturbs MPPI importance weights in proportion to residual magnitude and inversely with temperature, providing theoretical justification for residual-adaptive temperature relaxation. Simulations on an LTI point-mass system and a planar 2R manipulator show improved safety margin, success rate, and control efficiency compared with vanilla MPPI under significant model-plant mismatch.","short_abstract":"Sampling-based model predictive control methods handle nonlinear dynamics and complex cost landscapes through Monte Carlo rollouts, yet typically employ fixed constraint penalties that do not adapt to model-plant mismatch. This paper proposes Residual-Conservative Model Predictive Path Integral Control (RC-MPPI), a sam...","url_abs":"https://arxiv.org/abs/2607.06950","url_pdf":"https://arxiv.org/pdf/2607.06950v1","authors":"[\"Hyung-Jin Yoon\",\"Hunmin Kim\"]","published":"2026-07-08T03:23:39Z","proceeding":"eess.SY","tasks":"[\"eess.SY\",\"cs.RO\"]","methods":"[\"LoRA\"]","has_code":false}