Q-Guided Stein Variational Model Predictive Control via RL-informed Policy Prior
Q-SVMPC is proposed, a Q-guided Stein variational MPC method with an RL-informed policy prior, which casts learning-based MPC as trajectory-level posterior inference and refines trajectory particles via SVGD under learned soft Q-value guidance to explicitly preserve diverse solutions.
Shizhe Cai, Zeya Yin, Jayadeep Jacob et al.
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