{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,9,11]],"date-time":"2025-09-11T16:38:25Z","timestamp":1757608705783,"version":"3.44.0"},"reference-count":36,"publisher":"IEEE","license":[{"start":{"date-parts":[[2025,5,19]],"date-time":"2025-05-19T00:00:00Z","timestamp":1747612800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2025,5,19]],"date-time":"2025-05-19T00:00:00Z","timestamp":1747612800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2025,5,19]]},"DOI":"10.1109\/icra55743.2025.11128381","type":"proceedings-article","created":{"date-parts":[[2025,9,2]],"date-time":"2025-09-02T17:28:56Z","timestamp":1756834136000},"page":"7209-7216","source":"Crossref","is-referenced-by-count":0,"title":["Second-Order Stein Variational Dynamic Optimization"],"prefix":"10.1109","author":[{"given":"Yuichiro","family":"Aoyama","sequence":"first","affiliation":[{"name":"Georgia Institute of Technology,US"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Peter","family":"Lehmann","sequence":"additional","affiliation":[{"name":"Georgia Institute of Technology,US"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Evangelos A.","family":"Theodorou","sequence":"additional","affiliation":[{"name":"Georgia Institute of Technology,US"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"263","reference":[{"volume-title":"Differential dynamic programming","year":"1970","author":"Jacobson","key":"ref1"},{"doi-asserted-by":"publisher","key":"ref2","DOI":"10.1017\/s0008439500032112"},{"key":"ref3","first-page":"1433","article-title":"Aggressive driving with model predictive path integral control","volume-title":"2016 IEEE International Conference on Robotics and Automation (ICRA)","author":"Williams"},{"issue":"6","key":"ref4","doi-asserted-by":"crossref","first-page":"1603","DOI":"10.1109\/TRO.2018.2865891","article-title":"Information-theoretic model predictive control: Theory and applications to autonomous driving","volume":"34","author":"Williams","year":"2018","journal-title":"IEEE Transactions on Robotics"},{"issue":"2","key":"ref5","doi-asserted-by":"crossref","first-page":"1423","DOI":"10.1109\/LRA.2021.3057563","article-title":"Robust model predictive path integral control: Analysis and performance guarantees","volume":"6","author":"Gandhi","year":"2021","journal-title":"IEEE Robotics and Automation Letters"},{"key":"ref6","doi-asserted-by":"crossref","DOI":"10.15607\/RSS.2018.XIV.042","article-title":"Robust sampling based model predictive control with sparse objective information","volume-title":"Proceedings of Robotics: Science and Systems","author":"Williams"},{"key":"ref7","article-title":"Variational inference MPC using tsallis divergence","author":"Wang","year":"2021","journal-title":"CoRR"},{"issue":"5","key":"ref8","doi-asserted-by":"crossref","first-page":"4543","DOI":"10.1109\/LRA.2024.3382530","article-title":"Low frequency sampling in model predictive path integral control","volume":"9","author":"Vlahov","year":"2024","journal-title":"IEEE Robotics and Automation Letters"},{"key":"ref9","article-title":"Covo-mpc: Theoretical analysis of sampling-based mpc and optimal covariance design","author":"Yi","year":"2024","journal-title":"arXiv preprint"},{"key":"ref10","first-page":"7672","article-title":"Learning implicit priors for motion optimization","volume-title":"2022 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)","author":"Urain"},{"key":"ref11","first-page":"1916","article-title":"Motion planning diffusion: Learning and planning of robot motions with diffusion models","volume-title":"2023 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)","author":"Carvalho","year":"1923"},{"key":"ref12","article-title":"Accelerating motion planning via optimal transport","volume-title":"Advances in Neural Information Processing Systems (NeurIPS)","author":"Le","year":"2023"},{"key":"ref13","first-page":"1278","article-title":"Stein variational model predictive control","volume-title":"Proceedings of the 2020 Conference on Robot Learning, ser. Proceedings of Machine Learning Research","volume":"155","author":"Lambert"},{"year":"2021","author":"Lambert","journal-title":"Entropy regularized motion planning via stein variational inference","key":"ref14"},{"year":"2024","author":"Power","journal-title":"Constrained stein variational trajectory optimization","key":"ref15"},{"key":"ref16","doi-asserted-by":"crossref","DOI":"10.1007\/978-3-319-70139-4","article-title":"Stein variational gradient descent as gradient flow","volume-title":"Advances in Neural Information Processing Systems","volume":"30","author":"Liu","year":"2017"},{"key":"ref17","first-page":"3422","article-title":"Maximum entropy differential dynamic programming","volume-title":"2022 International Conference on Robotics and Automation (ICRA)","author":"So"},{"volume-title":"Messy: How to Be Creative and Resilient in a Tidy-Minded World","year":"2016","author":"Harford","key":"ref18"},{"key":"ref19","article-title":"A stein variational newton method","volume-title":"Advances in Neural Information Processing Systems","volume":"31","author":"Detommaso","year":"2018"},{"doi-asserted-by":"publisher","key":"ref20","DOI":"10.1137\/s1052623499350013"},{"doi-asserted-by":"publisher","key":"ref21","DOI":"10.1007\/s10107-004-0559-y"},{"key":"ref22","article-title":"Stein variational policy gradient","volume-title":"Proceedings of the Thirty-Third Conference on Uncertainty in Artificial Intelligence, UAI","author":"Liu","year":"2017"},{"key":"ref23","first-page":"819","article-title":"A consistent estimator of the expected gradient outerproduct","volume-title":"Proceedings of the Thirtieth Conference on Uncertainty in Artificial Intelligence, ser. UAI\u2019 14. Arlington","author":"Trivedi"},{"issue":"1","key":"ref24","first-page":"20","article-title":"Replica exchange for non-convex optimization","volume":"22","author":"Dong","year":"2021","journal-title":"J. Mach. Learn. Res."},{"key":"ref25","article-title":"Large sample analysis of the median heuristic","author":"Garreau","year":"2018","journal-title":"arXIv preprint"},{"key":"ref26","first-page":"6018","article-title":"Message passing stein variational gradient descent","volume-title":"Proceedings of the 35th International Conference on Machine Learning, ser. Proceedings of Machine Learning Research","volume":"80","author":"Zhuo"},{"key":"ref27","article-title":"Projected stein variational newton: A fast and scalable bayesian inference method in high dimensions","volume-title":"Advances in Neural Information Processing Systems","volume":"32","author":"Chen","year":"2019"},{"key":"ref28","first-page":"1947","article-title":"Projected stein variational gradient descent","volume-title":"Advances in Neural Information Processing Systems","volume":"33","author":"Chen","year":"2020"},{"key":"ref29","first-page":"4730","article-title":"Feedback mpc for torque-controlled legged robots","volume-title":"2019 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)","author":"Grandia"},{"volume-title":"Numerical optimization","year":"2006","author":"Nocedal","key":"ref30"},{"key":"ref31","article-title":"The logarithmic potential method of convex programming","author":"Frisch","year":"1955","journal-title":"University Institute of Economics, Oslo, Norway, Tech. Rep."},{"volume-title":"Nonlinear Programming: Sequential Unconstrained Minimization Techniques","year":"1968","author":"Fiacco","key":"ref32"},{"year":"2021","author":"Freeman","journal-title":"Brax - a differentiable physics engine for large scale rigid body simulation","key":"ref33"},{"year":"2021","journal-title":"Neural Network Intelligence","key":"ref34"},{"issue":"11","key":"ref35","article-title":"Modelling and control of quadcopter","volume":"20","author":"Luukkonen","journal-title":"Independent research project in applied mathematics, Espoo"},{"year":"2018","author":"Bradbury","journal-title":"JAX: composable transformations of Python+NumPy programs","key":"ref36"}],"event":{"name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","start":{"date-parts":[[2025,5,19]]},"location":"Atlanta, GA, USA","end":{"date-parts":[[2025,5,23]]}},"container-title":["2025 IEEE International Conference on Robotics and Automation (ICRA)"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx8\/11127273\/11127223\/11128381.pdf?arnumber=11128381","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,9,3]],"date-time":"2025-09-03T06:46:44Z","timestamp":1756882004000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/11128381\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,5,19]]},"references-count":36,"URL":"https:\/\/doi.org\/10.1109\/icra55743.2025.11128381","relation":{},"subject":[],"published":{"date-parts":[[2025,5,19]]}}}