TierCEM：带优先级约束的交叉熵优化方法

1. 12:00
   arXiv · Robotics

   带优先约束的交叉熵优化方法 TierCEM

   论文提出 TierCEM，一种将严格约束优先级直接融入精英选择的交叉熵方法变体，无需为每个约束配置重要性权重。该方法按优先级从高到低依次过滤采样候选，当某约束剔除全部候选时回退到上一非空集，递归保留更高优先级约束的满足。在 2D 导航和接触密集推搡任务上的实验表明，约束排序反转会改变冲突时被违反的约束，优先推进任务目标也允许放松阻碍进展的低优先级约束。

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