# Analysis of Sampling and Derivative Predictive Control for Real-Time Behavior Synthesis in MuJoCo MPC

- Source: Guyuehome
- Published: 2026-11-02T11:16:00.000Z
- RoboHot: https://robohot.news/en/items/avf8gq8eslk3349l9jt1ipoz0
- Original: https://www.guyuehome.com/detail?id=2108634056594845697

## Summary

Gu Yue Ju analyzes the MuJoCo real-time predictive control framework, which uses a residual cost to unify task descriptions, with four planners—predictive sampling, gradient descent, iLQG, and hybrid ILQS—replanning at every step within the same loop. A Cartpole comparison experiment reports the convergence speed and per-step computational cost of the four.