@article{vimppienhancingmodelpredictivepath,
  title = {VIMPPI: Enhancing Model Predictive Path Integral Control with Variational Integration for Underactuated Systems},
  author = {Igor Alentev and Lev Kozlov and Ivan Domrachev and Simeon Nedelchev and Jee-Hwan Ryu},
  year = {2025},
  eprint = {2505.05507},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2505.05507v2},
}