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eess.SY2026
Trajectory Optimization via Schrödinger Bridge Sampling
Mattia Mosso, Yang Liu, Heng Yang
We take a new look at the relation between finite-horizon trajectory optimization and Schrödinger bridge sampling. Viewed as inference, KL-regularized trajectory optimization is so…
eess.SY2026
Hard-Constrained Sampling on Embedded Riemannian Manifolds via Adjoint Schrödinger Bridges
Mattia Mosso, Jaemoo Choi, Heng Yang
A variety of tasks require sampling from unnormalized Boltzmann distributions supported on manifolds. Building upon the foundations of adjoint matching and adjoint Schrödinger brid…