4 papers
Beyond Pure Sampling: Hybrid Optimization Mechanisms for Non-Convex Model Predictive Control
Yuichiro Aoyama, Minchan Jung, Akash Ratheesh +1
This paper investigates the optimization mechanisms of non-convex Model Predictive Control (MPC) using the Maximum Entropy Differential Dynamic Programming (ME-DDP) framework. Navi…
Second-Order Constrained Dynamic Optimization
Yuichiro Aoyama, Oswin So, Augustinos D. Saravanos +1
This paper provides an overview, analysis, and comparison of second-order dynamic optimization algorithms, i.e., constrained Differential Dynamic Programming (DDP) and Sequential Q…
Second-Order Stein Variational Dynamic Optimization
Yuichiro Aoyama, Peter Lehmamnn, Evangelos A. Theodorou
We present a novel second-order trajectory optimization algorithm based on Stein Variational Newton's Method and Maximum Entropy Differential Dynamic Programming. The proposed algo…
Generalized Maximum Entropy Differential Dynamic Programming
Yuichiro Aoyama, Evangelos A. Theodorou
We present a sampling-based trajectory optimization method derived from the maximum entropy formulation of Differential Dynamic Programming with Tsallis entropy. This method is a g…