LLA-MPPI: Rapidly Adaptive Whole-body Control of Legged Robots with GPU-Accelerated Parallel Simulations

arXiv:2610.10465 · cs.RO, cs.SY, eess.SY · Submitted 2026-10-07 · Read on arXiv

cs.RO, cs.SY, eess.SY

Submitted: 2026-10-07

Updated: 2026-10-07

Comments: The first two authors are co-first authors (contributed equally to the work)

Project page: https://lla-control.github.io

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Adaptation — 15× in this paper · explained in 1 episode
• Robustness — 4× in this paper · explained in 5 episodes
• Core — 3× in this paper · explained in 2 episodes
• Fidelity — 2× in this paper · explained in 2 episodes
• IEEE International Conference on Robotics and Automation — 2× in this paper
• Reinforcement Learning — 2× in this paper · explained in 4 episodes
• System Identification — 2× in this paper · explained in 3 episodes
• Ablation — 1× in this paper · explained in 1 episode
• Accuracy — 1× in this paper · explained in 1 episode
• Adaptive Safety — 1× in this paper · explained in 1 episode
• Decoupling — 1× in this paper · explained in 2 episodes
• Deep Reinforcement Learning — 1× in this paper · explained in 3 episodes
• Failure Modes — 1× in this paper · explained in 3 episodes
• Online Adaptation — 1× in this paper · explained in 3 episodes
• Trace — 1× in this paper · explained in 2 episodes

Sources

• LLA-MPC on Embedded Hardware: Rapid Adaptive Control with Thousands of Parallel Models
• LBA-CBF: Rapidly Adaptive Safety Filters via Parallel Dynamics Inference
• Mixture-of-Experts RL for Fault-Tolerant Legged Locomotion
• Predictive Sampling: Real-time Behaviour Synthesis with MuJoCo

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