用于轮/足式机器人的改进MPPI 局部控制器。main（结合RC-ESDF的SA-MPPI：提升动态绕障能力）、MPPI_C++（标准）、 OptiIO-MPPI（魔改避障）、DC-MPPI （Disturbance-Compensated MPPI，扰动补偿型 MPPI：提高湿滑地面以及扰动甲板下的跟踪能力）等
☆36Jul 6, 2026Updated last week
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