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math.OC2025
Free-Gate: Planning, Control And Policy Composition via Free Energy Gating
Francesca Rossi, Ãmiland 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 Convex Data-Driven Inverse Optimal Control for Nonlinear, Non-stationary and Stochastic Systems
Emiland Garrabe, Hozefa Jesawada, Carmen Del Vecchio +1
This paper is concerned with a finite-horizon inverse control problem, which has the goal of reconstructing, from observations, the possibly non-convex and non-stationary cost driv…