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A certificate-aware active disambiguation framework for an unknown physical noise parameter theta, with the sensor-only case obtained by fixing sigma_u, and interpret VoNI as a tractable, certificate-aware approximation to a high-level finite POMDP for latent sensing-execution regime disambiguation.
A cell-wise recursive covariance estimator with spatial diffusion is proposed and a finite-horizon error bound is proved that separates stochastic-approximation error, spatial-smoothing bias, and temporal-drift effects.
It is shown that finite-sample MPPI inherits the nominal contraction when its sampling-based update approximates this reference policy with sufficient accuracy, and satisfies a finite-horizon, high-probability localized mean practical stability bound with residual floors due to MPPI approximation error, Gaussian proces...
Residual-Conservative Model Predictive Path Integral Control is proposed, a sampling-based MPC framework that modulates safety conservatism online using the prediction-execution residual and shows improved safety margin, success rate, and control efficiency compared with vanilla MPPI under significant model-plant misma...
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