Pietro Noah Crestaz Ludovic De Matteïs Elliot Chane-Sane Nicolas Mansard Andrea Del Prete TD-CD-MPPI: Temporal-Difference Constraint-Discounted Model Predictive Path Integral Control. 498-505 2026 January 11 IEEE Robotics Autom. Lett. 1 https://doi.org/10.1109/LRA.2025.3632612 db/journals/ral/ral11.html#CrestazMCMP26 streams/journals/ral