フィードバック制御と計画のための生成モデリングに関するノート
Notes on Generative Modeling for Feedback Control and Planning
制御を状態空間上の動的制約付きサンプリング問題として捉え、フローマッチングや拡散モデルなどの生成モデリング手法を制御・計画に拡張する入門的解説。
分類: math.OC, cs.LG, eess.SY
原文アブストラクト
In these notes, we view control as a dynamically constrained sampling problem on the state-space of a control system. With this viewpoint, we extend methods from generative modeling, such as flow matching, normalizing flows and denoising diffusions to control problems. Concepts such as controllability, optimal control and trajectory planning play an important role in guiding the extension and understanding well-posedeness of the corresponding algorithms, with application to steering systems to target states or distributions and sampling from reachable sets. The notes are intended as an accessible introduction for readers with a background in control theory and robotics.