A Implementation Details

In this section, we derive the computational complexity of the TIP algorithm. Table 4: Hyperparameters used for optimization in MPC procedure for closed-loop control problems. A.4 Cost Function Details We set n = 15 and m =1 for our Monte Carlo estimate of the cost function for each problem. As mentioned in the main text, we use the iCEM method from Pinneri et al. In Tables 4 and 5, we present the hyperparameters used for the planning algorithm across each problem.