MPPI is re-derived as EM on a probabilistic optimal control problem, producing a generalized EM-MPPI algorithm with convergence analysis for exponential families and explicit Gaussian cases.
Residual-mppi: Online policy customization for continuous control
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Generalized Model Predictive Path Integral Control as Expectation--Maximization
MPPI is re-derived as EM on a probabilistic optimal control problem, producing a generalized EM-MPPI algorithm with convergence analysis for exponential families and explicit Gaussian cases.