← 研踪 PaperTrailarXiv:2609.28325 · v2
Motoneuron-Inspired Sampling for Model Predictive Path Integral Control
首次提交 2026-09-24 00:03
版本更新 2026-10-29 16:27
雷达观测 2026-10-30 13:28
摘要
Model Predictive Path Integral (MPPI) control relies on stochastic trajectory sampling, and its performance under limited rollout budgets depends strongly on the structure of the proposal distribution. Conventional Gaussian perturbations, even when temporally correlated, transmit high-frequency jitter to the executed commands when only a few rollouts are available. We introduce Spike-MPPI, a motoneuron-inspired proposal in which a common stochastic drive recruits pools of motor units whose discharges are filtered by twitch kernels, yielding sparse, temporally coherent perturbations. We evaluate Spike-MPPI on legged locomotion and manipulation tasks with a Franka FR3 arm in simulation, as well as on a physical robot. Spike consistently produces the smoothest executed commands across all tasks, including against spectrum-matched Gaussian proposals, and a planar ablation identifies the common drive as the largest contributor to this smoothness among the tested motor-pool mechanisms. In manipulation, this smoothness is also accompanied by improved task performance and success, such as in ball balancing, where Gaussian, pink-noise, and spectrum-matched proposals largely fail. On hardware, Spike also yields the shortest task completion times and the smoothest commands. These results show that, beyond its power spectrum, the statistical structure of the sampling is a key design factor for finite-budget MPPI control.
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v2 · 2026-10-29 16:27 · 最新观测版本
Motoneuron-Inspired Sampling for Model Predictive Path Integral Control
Model Predictive Path Integral (MPPI) control relies on stochastic trajectory sampling, and its performance under limited rollout budgets depends strongly on the structure of the proposal distribution. Conventional Gaussian perturbations, even when temporally correlated, transmit high-frequency jitter to the executed commands when only a few rollouts are available. We introduce Spike-MPPI, a motoneuron-inspired proposal in which a common stochastic drive recruits pools of motor units whose discharges are filtered by twitch kernels, yielding sparse, temporally coherent perturbations. We evaluate Spike-MPPI on legged locomotion and manipulation tasks with a Franka FR3 arm in simulation, as well as on a physical robot. Spike consistently produces the smoothest executed commands across all tasks, including against spectrum-matched Gaussian proposals, and a planar ablation identifies the common drive as the largest contributor to this smoothness among the tested motor-pool mechanisms. In manipulation, this smoothness is also accompanied by improved task performance and success, such as in ball balancing, where Gaussian, pink-noise, and spectrum-matched proposals largely fail. On hardware, Spike also yields the shortest task completion times and the smoothest commands. These results show that, beyond its power spectrum, the statistical structure of the sampling is a key design factor for finite-budget MPPI control.
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