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math.OC2024
Free-Gate: Planning, Control And Policy Composition via Free Energy Gating
Francesca Rossi, Émiland Garrabé, Giovanni Russo
We consider the problem of optimally composing a set of primitives to tackle planning and control tasks. To address this problem, we introduce a free energy computational model for…
math.OC2024
On Weakly Contracting Dynamics for Convex Optimization
Veronica Centorrino, Alexander Davydov, Anand Gokhale +2
We analyze the convergence behavior of \emph{globally weakly} and \emph{locally strongly contracting} dynamics. Such dynamics naturally arise in the context of convex optimization…