Derives transformer-like dual-filter inference layers from first-principles optimal control on nonlinear discrete and linear Gaussian sequence models.
General duality between optimal control and estimation
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DR-SAC is the first actor-critic distributionally robust RL algorithm for offline continuous control that derives a convergent robust soft policy iteration and reports up to 9.8x higher rewards than SAC under perturbations.
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Transformer-like Inference from Optimal Control
Derives transformer-like dual-filter inference layers from first-principles optimal control on nonlinear discrete and linear Gaussian sequence models.