Author

Ruiqi Zhang

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Preprint Sep 2026

OA-MPPI: Occlusion-Aware Model Predictive Path Integral Control for UAV Flight

Autonomous UAV flight through cluttered and partially unknown environments requires reasoning not only about observed obstacles but also about occluded regions that the sensor cannot observe. We present OA-MPPI, an obstacle- and occlusion-aware extension of Model Predictive Path Integral (MPPI) control for quadrotor fl...

Vittorio Palladino, Teaya Yang, Ruiqi Zhang et al. · 0 citations

Preprint Aug 2026

Interpreting Control Latents for System Identification via Conditional Flow Matching

Latent-conditioned adaptive policies can control robots across changing dynamics, but their learned latents remain internal representations of the policy rather than physical models that can be inspected, rolled out, or used by other control modules. This limits closed-loop analysis, diagnosis, and further improvement...

Dingqi Zhang, Ruiqi Zhang, Mark W. Mueller · 0 citations