Free-Gate: 自由エネルギーゲーティングによる計画・制御・方策の合成
Free-Gate: Planning, Control And Policy Composition via Free Energy Gating
複数の制御プリミティブを変分自由エネルギー最小化に基づくゲーティングで合成し、非凸なコストや非線形・確率・非定常環境でも凸となる有限ホライズン最適制御問題として解く手法を提案し、ロボットナビゲーションで有効性を示した。
著者: Francesca Rossi, Émiland Garrabé, Giovanni Russo
分類: math.OC, cs.RO, cs.SY, eess.SY
原文アブストラクト
We consider the problem of optimally composing a set of primitives to tackle planning and control tasks. To address this problem, we introduce a free energy computational model for planning and control via policy composition: Free-Gate. Within Free-Gate, control primitives are combined via a gating mechanism that minimizes variational free energy. This composition problem is formulated as a finite-horizon optimal control problem, which we prove remains convex even when the cost is not convex in states/actions and the environment is nonlinear, stochastic and non-stationary. We develop an algorithm that computes the optimal primitives composition and demonstrate its effectiveness via in-silico and hardware experiments on an application involving robot navigation in an environment with obstacles. The experiments highlight that Free-Gate enables the robot to navigate to the destination despite only having available simple motor primitives that, individually, could not fulfill the task.
