|:----------|:---------------: |:----------------:|:----------------:|:----------------:|:----------------:|

| Linear Model Predictive Control (MPC) | ✓ | x | x | x | x |

| Cross Entropy Method (CEM) | ✓ | ✓ | x | x | x |

| Model Preidictive Path Integral Control of Nagabandi, A. (MPPI) | ✓ | ✓ | x | x | x |

| Model Preidictive Path Integral Control of Williams, G. (MPPIWilliams) | ✓ | ✓ | x | x | x |

| Model Predictive Path Integral Control of Nagabandi, A. (MPPI) | ✓ | ✓ | x | x | x |

| Model Predictive Path Integral Control of Williams, G. (MPPIWilliams) | ✓ | ✓ | x | x | x |

| Random Shooting Method (Random) | ✓ | ✓ | x | x | x |

| Iterative LQR (iLQR) | x | ✓ | x | ✓ | x |

| Differential Dynamic Programming (DDP) | x | ✓ | x | ✓ | ✓ |

- [Cross Entropy Method (CEM)](https://arxiv.org/abs/1805.12114)

- Ref: Chua, K., Calandra, R., McAllister, R., & Levine, S. (2018). Deep reinforcement learning in a handful of trials using probabilistic dynamics models. In Advances in Neural Information Processing Systems (pp. 4754-4765)

- [script](PythonLinearNonlinearControl/controllers/cem.py)

- [Model Preidictive Path Integral Control of Nagabandi, A. (MPPI)](https://arxiv.org/abs/1909.11652)

- [Model Predictive Path Integral Control of Nagabandi, A. (MPPI)](https://arxiv.org/abs/1909.11652)

- Ref: Nagabandi, A., Konoglie, K., Levine, S., & Kumar, V. (2019). Deep Dynamics Models for Learning Dexterous Manipulation. arXiv preprint arXiv:1909.11652.

- [script](PythonLinearNonlinearControl/controllers/mppi.py)

- [Model Preidictive Path Integral Control of Williams, G. (MPPIWilliams)](https://ieeexplore.ieee.org/abstract/document/7989202)

- [Model Predictive Path Integral Control of Williams, G. (MPPIWilliams)](https://ieeexplore.ieee.org/abstract/document/7989202)

- Ref: Williams, G., Wagener, N., Goldfain, B., Drews, P., Rehg, J. M., Boots, B., & Theodorou, E. A. (2017, May). Information theoretic MPC for model-based reinforcement learning. In 2017 IEEE International Conference on Robotics and Automation (ICRA) (pp. 1714-1721). IEEE.

- [script](PythonLinearNonlinearControl/controllers/mppi_williams.py)

- [Random Shooting Method (Random)](https://arxiv.org/abs/1805.12114)