A stochastic multiple-shooting optimizer that links short sampled control segments with local LQR feedback policies reaches terminal sets with fewer rollouts than MPPI and CEM on cartpole and VTOL landing benchmarks.
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Stochastic Multiple Shooting Trajectory Optimization via Sequential Local Policy Evaluation
A stochastic multiple-shooting optimizer that links short sampled control segments with local LQR feedback policies reaches terminal sets with fewer rollouts than MPPI and CEM on cartpole and VTOL landing benchmarks.