OT-MPC computes an optimal coupling between candidate control sequences and low-cost proposals via entropy-regularized optimal transport and the Sinkhorn algorithm to improve sampling-based MPC performance.
Rehg, Byron Boots, and Evangelos A
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Sampling-Based Control via Entropy-Regularized Optimal Transport
OT-MPC computes an optimal coupling between candidate control sequences and low-cost proposals via entropy-regularized optimal transport and the Sinkhorn algorithm to improve sampling-based MPC performance.