CacheMPC: Certified Cached Model Predictive Control for Quadruped Locomotion

arXiv:2606.28300v1 Announce Type: new Abstract: Model Predictive Control (MPC) is the standard predictive layer in hierarchical quadruped controllers, but the per-cycle QP solve limits the update rate achievable on embedded processors. Because legged gaits revisit a bounded region of state space, MPC solutions admit caching and reuse. This paper proposes \emph{Certified CacheMPC}: a Locality-Sensitive-Hashed cache of horizon contact-force trajectories, partitioned by contact mode, retrieved at q...