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Paper detail

Path Integral Control and State Dependent Feedback

In this paper we address the problem to compute state dependent feedback controls for path integral control problems. To this end we generalize the path integral control formula and utilize this to construct parameterized state dependent feedback controllers. In addition, we show a novel relation between control and importance sampling: better control, in terms of control cost, yields more efficient importance sampling, in terms of effective sample size. The optimal control provides a zero-variance estimate.

preprint2016arXivOpen access
Sep ThijssenH. J. Kappen
math.OC
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Sep ThijssenH. J. Kappen

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