20 citations · 57 across the 8 of their papers we have counts for
4 papers · 1 filter
Pseudospectral Model Predictive Control under Partially Learned Dynamics
Manan Gandhi, Yunpeng Pan, Evangelos Theodorou
Trajectory optimization of a controlled dynamical system is an essential part of autonomy, however many trajectory optimization techniques are limited by the fidelity of the underl…
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…
Model-based Path Integral Stochastic Control: A Bayesian Nonparametric Approach
Yunpeng Pan, Evangelos A. Theodorou, Michail Kontitsis
Over the last few years, sampling-based stochastic optimal control (SOC) frameworks have shown impressive performances in reinforcement learning (RL) with applications in robotics.…
Nonparametric Infinite Horizon Kullback-Leibler Stochastic Control
Yunpeng Pan, Evangelos Theodorou
We present two nonparametric approaches to Kullback-Leibler (KL) control, or linearly-solvable Markov decision problem (LMDP) based on Gaussian processes (GP) and Nyström approxima…