Planning under Uncertainty to Goal Distributions

This page hosts material associated with our paper Planning under Uncertainty to Goal Distributions, currently under review.

• Paper Preprint
• Supplemental Material - Derivations of our cost function reductions to common planning costs, and extended details on the environments used in the experiments.
• Video - MPC executions of the results shown in the paper.
• Code - All code needed to recreate results presented in the paper.