5 papers · 1 filter
Model Predictive Path Integral Control as a Quantum Query Problem
Goutam Das, Takashi Tanaka
Model predictive path integral (MPPI) control computes its inputs as cost-weighted averages over simulated trajectories. However, it typically requires many simulations, especially…
Bound-Optimized Task Choice for Path Integral Control
Rylie Anderson, Goutam Das, Takashi Tanaka
Path Integral (PI) control is a powerful sampling-based method for stochastic optimal control, but it requires a restrictive coupling between the noise covariance and the control c…
Path Integral Control for Partially Observed Systems with Controlled Sensing
Goutam Das, Takashi Tanaka
Path integral control in Gaussian belief space requires a structural matching condition between the observation-driven diffusion of the belief mean and the actuation authority, whi…
Path Integral Control in Gaussian Belief Space for Partially Observed Systems
Goutam Das, Takashi Tanaka
This paper extends path integral control (PIC) to partially observed systems by formulating the problem in Gaussian belief space. PIC uses the matching condition, which requires th…
Game-Theory-Assisted Reinforcement Learning for Border Defense: Early Termination based on Analytical Solutions
Goutam Das, Michael Dorothy, Kyle Volle +1
Game theory provides the gold standard for analyzing adversarial engagements, offering strong optimality guarantees. However, these guarantees often become brittle when assumptions…