3 papers
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…
eess.SY2026
Nonlinear Stochastic Density Steering via Gaussian Mixture Schrodinger Bridges and Multiple Linearizations
Mattia Mosso, George Rapakoulias, Yue Guan +1
The paper studies the optimal density steering problem for nonlinear continuous-time stochastic systems. To accurately capture nonlinear dynamics in high-uncertainty regions that d…