RGB: RL Guided Whole-Body MPPI for Humanoid Control

arXiv:2606.25123v1 Announce Type: new Abstract: Humanoid robots require whole-body controllers that are both robust and precise in contact-rich environments. While deep reinforcement learning (RL) achieves robust stability, its behavior is tightly coupled to the training objective and command interface, making it difficult to add new feedback objectives without retraining. In this study, we propose an RL guided whole-body model predictive path integral (MPPI) framework that acts as an add-on fee...