A new Stein variational controller for nonlinear systems with parametric uncertainty achieves better performance-robustness tradeoffs than worst-case or ensemble baselines by shaping control around task-dependent uncertainty distributions.
Distributionally robust sampling-based motion planning under uncertainty
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Stein Variational Uncertainty-Adaptive Model Predictive Control
A new Stein variational controller for nonlinear systems with parametric uncertainty achieves better performance-robustness tradeoffs than worst-case or ensemble baselines by shaping control around task-dependent uncertainty distributions.