Second-Order Stein Variational Dynamic Optimization

We present a novel second-order trajectory optimization algorithm based on Stein Variational Newton's Method and Maximum Entropy Differential Dynamic Programming. The proposed algorithm, called Stein Variational Differential Dynamic Programming, is a kernel-based extension of Maximum Entropy Differential Dynamic Programming that combines the best of the two worlds of sampling-based and gradient-based optimization. The resulting algorithm avoids known drawbacks of gradient-based dynamic optimization in terms of getting stuck to local minima, while it overcomes limitations of sampling-based stochastic optimization in terms of introducing undesirable stochasticity when applied in online fashion. To test the efficacy of the proposed algorithm, experiments are performed for both trajectory optimization and model predictive control. The experiments include comparisons with unimodal and multimodal Maximum Entropy Differential Dynamic Programming as well as Model Predictive Path Integral Control and its multimodal and Stein Variational extensions. The results demonstrate the superior performance of the proposed algorithms and confirm the hypothesis that there is a middle ground between sampling and gradient-based optimization that is indeed beneficial for the purposes of dynamic optimization. This middle ground consists of different mechanisms that combine sampling with gradient-based optimization. In this paper, we investigate these different mechanisms and show their benefits in dealing with non-convex dynamic optimization problems found in trajectory optimization and model predictive control.
Comment: 30 pages, 10 figures