PISTO augments stochastic trajectory optimization with proximal KL regularization, yielding closed-form mean updates via importance sampling that outperform STOMP, CHOMP, CEM, and MPPI on robot arm and MuJoCo benchmarks.
Asymptotically optimal motion planning using incremental sampling- based algorithms
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PISTO: Proximal Inference for Stochastic Trajectory Optimization
PISTO augments stochastic trajectory optimization with proximal KL regularization, yielding closed-form mean updates via importance sampling that outperform STOMP, CHOMP, CEM, and MPPI on robot arm and MuJoCo benchmarks.