Author

Leesai Park

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Preprint Aug 2026

Projection-Retraction MPPI: Exact Constraint-Manifold Control for Manipulators

This work proposes Projection-Retraction MPPI (PR-MPPI), which enforces the constraints inside the sampled dynamics inside the sampled dynamics, and validate PR-MPPI on 14-DoF dual-arm systems.

Seulchan Lee, Leesai Park, Minhyeong Kang et al. · 0 citations

Jul 2026

GRACE: Gradient-Free Robot Action Generation via Combined Diffusion-MPPI Posterior Mean Estimation

Gradient-free Robot Action generation via Combined diffusion-MPPI posterior mean Estimation (GRACE), which guides a pretrained diffusion policy with Model Predictive Path Integral (MPPI) control using only forward cost evaluations.

Leesai Park, J. Hong, Sanghyun Kim · arXiv.org · 0 citations