A relative-entropy ambiguity set with a Donsker–Varadhan bound, plus a quadratic-truncation-based estimate of its radius, yields a distributionally robust risk upper bound for nonlinear covariance steering.
Chance-constrained covariance steering in a gaussian random field via successive convex programming,
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Relative Entropy-Bounded Ambiguous Chance Constraints for Robust Planning in Nonlinear Systems
A relative-entropy ambiguity set with a Donsker–Varadhan bound, plus a quadratic-truncation-based estimate of its radius, yields a distributionally robust risk upper bound for nonlinear covariance steering.