Gaussian mixture models combined with multiple local linearizations solve nonlinear stochastic density steering and yield provably tighter approximation bounds than single-linearization baselines.
Optimal Covariance Steering for Discrete-Time Linear Stochastic Systems
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Nonlinear Stochastic Density Steering via Gaussian Mixture Schrodinger Bridges and Multiple Linearizations
Gaussian mixture models combined with multiple local linearizations solve nonlinear stochastic density steering and yield provably tighter approximation bounds than single-linearization baselines.