feat: T/F/C/DG/PR-MPPI (33~37번째 변형) 5종 구현#20
Merged
Geonhee-LEE merged 2 commits intomainfrom Mar 21, 2026
Merged
Conversation
- T-MPPI (Transformer): 학습 기반 초기화로 샘플 효율 향상 - F-MPPI (Feedback): Riccati 피드백 재사용으로 계산 75% 절감 - C-MPPI (Contingency): 중첩 MPPI 비상 계획으로 안전 보증 - DualGuard-MPPI: HJ 안전 가치 함수 + soft/hard/filter 모드 - PR-MPPI (Parameter-Robust): 입자 기반 파라미터 학습 + robust 제어 - 140 tests (28×5), 5 benchmarks, 1793 전체 테스트 통과 Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
1 participant
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
Summary
Test plan
python -m pytest tests/ -v --override-ini="addopts="🤖 Generated with Claude Code