Model Predictive Optimized Path Integral Strategies
Dylan M. Asmar,Ransalu Senanayake,Shawn Manuel,Mykel J. Kochenderfer,Dylan M. Asmar,Ransalu Senanayake,Shawn Manuel,Mykel J. Kochenderfer
We generalize the derivation of model predictive path integral control (MPPI) to allow for a single joint distribution across controls in the control sequence. This reformation allows for the implementation of adaptive importance sampling (AIS) algorithms into the original importance sampling step while still maintaining the benefits of MPPI such as working with arbitrary system dynamics and cost ...
