Free-Gate composes control primitives by minimizing variational free energy, and its per-step weight optimization is provably convex and optimal.
SIAM Journal on Mathematical Analysis 49(2), 1385–1418 (2017)
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Free-Gate: Planning, Control And Policy Composition via Free Energy Gating
Free-Gate composes control primitives by minimizing variational free energy, and its per-step weight optimization is provably convex and optimal.