
提案されたSVG-MPPIは、複数のモードをカバーするMPPIの制限を克服し、高速収束特性を保持しながら単一のターゲットモードを効率的に捉えることができます。


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stein-variational-guided-model-predictive-path-integral-control-proposal-and-experiments-with-fast-maneuvering-vehicles


Stein Variational Guided Model Predictive Path Integral Control: Proposal and Experiments with Fast Maneuvering Vehicles


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The author proposes the Stein Variational Guided MPPI method to efficiently handle rapidly shifting multimodal optimal action distributions. By guiding the solution using a modified SVGD method, the proposed approach aims to converge to a single target mode within the multimodal distribution.
