Author

Lei-Lei Cui

h-index 12 View on Semantic Scholar

We have 2 of 33 papers

We haven’t gathered this author’s papers yet. Follow them and we’ll fetch their work.

Not the right person? Other researchers publish under this name.

Preprint Oct 2026

Exact-Safe MPPI: Safety-Aware Sampling with Nonsmooth Control Barrier Functions

This paper proposes Exact-Safe MPPI, which uses the exact minimum of multiple barrier functions and applies a CBF-based quadratic program during both planning and control execution and establishes forward invariance of the certified safe set without the shrinkage introduced by soft-minimum smoothing.

Alexander Coker, Lei-Lei Cui · 0 citations

Preprint Sep 2026

Parallel Policy-Gradient Methods for Parameter Optimization of Nonlinear Feedback Controllers

This letter develops a time-parallel policy-gradient framework for discrete-time nonlinear control-affine systems and proves that, for any finite horizon T, the state solver recovers the exact trajectory from any initialization in at most T iterations.

A. Nguyen, Lei-Lei Cui · 0 citations