feat: SVG/pi/ds/DRPA/CSC-MPPI (28~32번째 변형)#19
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Geonhee-LEE merged 2 commits intomainfrom Mar 21, 2026
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SVG-MPPI: SVGD 파티클 최적화로 다중 모드 탐색 (Honda, ICRA 2024) pi-MPPI: QP/clip projection으로 jerk/snap 하드 제약 보장 (Andrejev, RA-L 2025) dsMPPI: 결정론적 샘플링 (Halton/Sobol) + CEM 반복 (Walker, 2026) DRPA-MPPI: 반발 포텐셜로 local minima 자동 탈출 (Fuke, 2025) CSC-MPPI: primal-dual 제약 투영 + DBSCAN 클러스터링 (2025) - 5개 컨트롤러, 5개 벤치마크, 140개 테스트 추가 - 전체 1653 tests 통과 Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
MPPI_THEORY.md에 5개 변형의 수학적 배경, 알고리즘, 구현 세부사항 추가 (§27-31). TUTORIALS.md에 5개 벤치마크 가이드 (§9.18-9.22) + CLI 커맨드 + 파라미터 테이블 추가. 변형 선택 가이드 (§32) 업데이트. Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
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Summary
5종 고급 MPPI 변형 구현 (28~32번째):
주요 성과
파일 변경
Test plan
python -m pytest tests/ --override-ini="addopts="(1653/1653 통과)🤖 Generated with Claude Code