Jiayun Li

Globalized Constrained Stein Variational Inference for Diverse Feasible Robot Motion Planning

SteinSQP (Stein Variational Sequential Quadratic Programming), a constrained Stein variational inference method for diverse feasible robot motion sampling, shows faster and more robust ensemble convergence in terms of iterations, improves particle-wise feasibility, and achieves faster batched time-to-solution on challe...