2 code implementations • 30 Mar 2022 • Dylan M. Asmar, Ransalu Senanayake, Shawn Manuel, Mykel J. Kochenderfer
We generalize the derivation of model predictive path integral control (MPPI) to allow for a single joint distribution across controls in the control sequence.
no code implementations • 29 Mar 2021 • Arthur Allshire, Roberto Martín-Martín, Charles Lin, Shawn Manuel, Silvio Savarese, Animesh Garg
Additionally, similar tasks or instances of the same task family impose latent manifold constraints on the most effective action space: the task family can be best solved with actions in a manifold of the entire action space of the robot.