BR-MPPI: Barrier-Rate Guided MPPI for Enforcing Multiple Inequality Constraints with Learned Signed Distance Fields

BR-MPPI: Barrier-Rate Guided MPPI for Enforcing Multiple Inequality Constraints with Learned Signed Distance Fields
BR-MPPI: Barrier-Rate Guided MPPI for Enforcing Multiple Inequality Constraints with Learned Signed Distance Fields
Hardik Parwana* Taekyung Kim* Kehan Long Bardh Hoxha Hideki Okamoto Georgios Fainekos Dimitra Panagou

Preprint, 2026

project page / video / code / arxiv /
Funded by: TRINA

Code

tkkim-robot / br-mppi
BR-MPPI: Barrier-Rate Guided MPPI for Enforcing Multiple Inequality Constraints with Learned Signed Distance Fields
GitHub
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Authors

Hardik Parwana
Hardik Parwana

Role: PhD Robotics (2020 - 2024)

Now: Robotics Engineer @ Applied Intuition

link / email /
Taekyung Kim
Taekyung Kim
link / email /
Dimitra Panagou
Dimitra Panagou
link /