PI-MPC turns finite-horizon optimal control into inference over a Boltzmann-weighted control distribution and generates actions via variational inference, with MPPI as a key sampling-based example.
Variational inference mpc using normalizing flows and out-of-distribution projection.Robotics: Science and Systems, 2022
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Model Predictive Control via Probabilistic Inference: A Tutorial and Survey
PI-MPC turns finite-horizon optimal control into inference over a Boltzmann-weighted control distribution and generates actions via variational inference, with MPPI as a key sampling-based example.