Name		Name	Last commit message	Last commit date
Latest commit History 120 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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Risk-aware MPPI for Stochastic Hybrid Systems

This repository supplements our submission to ACC 2025.

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