90 citations · 910 across the 140 of their papers we have counts for
4 papers · 1 filter
Model Predictive Path Integral Control using Covariance Variable Importance Sampling
Grady Williams, Andrew Aldrich, Evangelos Theodorou
In this paper we develop a Model Predictive Path Integral (MPPI) control algorithm based on a generalized importance sampling scheme and perform parallel optimization via sampling…
Model Based Reinforcement Learning with Final Time Horizon Optimization
Wei Sun, Evangelos Theodorou, Panagiotis Tsiotras
We present one of the first algorithms on model based reinforcement learning and trajectory optimization with free final time horizon. Grounded on the optimal control theory and Dy…
Learning Optimal Control via Forward and Backward Stochastic Differential Equations
Ioannis Exarchos, Evangelos A. Theodorou
In this paper we present a novel sampling-based numerical scheme designed to solve a certain class of stochastic optimal control problems, utilizing forward and backward stochastic…
Sample Efficient Path Integral Control under Uncertainty
Yunpeng Pan, Evangelos A. Theodorou, Michail Kontitsis
We present a data-driven optimal control framework that can be viewed as a generalization of the path integral (PI) control approach. We find iterative feedback control laws withou…