Risk-aware MPPI for Stochastic Hybrid Systems

This repository supplements our submission to ACC 2025.

arxiv: Risk-aware MPPI for Stochastic Hybrid Systems

Simulation Results

Python and gazebo simulations

Python.and.Gazebo.sims.mp4

Name		Name	Last commit message	Last commit date
Latest commit History 121 Commits
Untitled Folder		Untitled Folder
mppi		mppi
paper_codes		paper_codes
robot_models		robot_models
.gitignore		.gitignore
Dockerfile		Dockerfile
README.md		README.md
belief_space_planning.py		belief_space_planning.py
docker-compose.yaml		docker-compose.yaml
docker_setup.sh		docker_setup.sh
gpu.Dockerfile		gpu.Dockerfile
linear_mpc.py		linear_mpc.py
mc_20_trials_cost.png		mc_20_trials_cost.png
mpc_utils.py		mpc_utils.py
mppi.py		mppi.py
mppi_foresee.py		mppi_foresee.py
mppi_foresee_multi_humans.py		mppi_foresee_multi_humans.py
mppi_foresee_multi_humans_mean.py		mppi_foresee_multi_humans_mean.py
mppi_foresee_multi_humans_paper_version.py		mppi_foresee_multi_humans_paper_version.py
mppi_foresee_multi_humans_sfm.py		mppi_foresee_multi_humans_sfm.py
mppi_foresee_optimized.py		mppi_foresee_optimized.py
mppi_montecarlo_multi_humans.py		mppi_montecarlo_multi_humans.py
mppi_paper_scanerio.py		mppi_paper_scanerio.py
mppi_paper_scanerio_corridor.py		mppi_paper_scanerio_corridor.py
mppi_paper_scanerio_corridor_sfm.py		mppi_paper_scanerio_corridor_sfm.py
mppi_paper_scanerio_multi_humans.py		mppi_paper_scanerio_multi_humans.py
mppi_paper_scanerio_multi_humans_sfm.py		mppi_paper_scanerio_multi_humans_sfm.py
mppi_paper_scanerio_multi_humans_v2.py		mppi_paper_scanerio_multi_humans_v2.py
mppi_paper_scanerio_multi_humans_v2_paper_version.py		mppi_paper_scanerio_multi_humans_v2_paper_version.py
mppi_paper_scanerio_single_human.py		mppi_paper_scanerio_single_human.py
mppi_paper_scanerio_v2.py		mppi_paper_scanerio_v2.py
paper_scenario.py		paper_scenario.py
paper_scenario_risk_adapt.py		paper_scenario_risk_adapt.py
policy_optimize.py		policy_optimize.py
policy_optimize_di.py		policy_optimize_di.py
policy_optimize_hybrid.py		policy_optimize_hybrid.py
policy_optimize_mpc.py		policy_optimize_mpc.py
simple propagation.ipynb		simple propagation.ipynb
single_integrator.py		single_integrator.py
ut_utils_jax.py		ut_utils_jax.py
utils.py		utils.py

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