arXiv:2608.12828math.OCcs.LG2026-08

用切片最优传输设计可控分布轨迹,实现高效精准的系统状态分布调控。

Distribution Steering via Sliced Optimal Transport Control

论文配图:Distribution Steering via Sliced Optimal Transport Control
图 1 · 摘自论文原文
  • 基于切片最优传输构建分步控制框架,通过投影方向平均生成确定性反馈律。
  • 对高斯分布目标可保持分布形态,精确调控均值与协方差至指定值。
  • 理论证明控制能量可显式表达,且随机控制器随采样周期趋零收敛于平均流。

分布引导旨在设计反馈律,将动态系统的状态分布从初始分布驱动至指定终端分布。最优传输提供自然的几何方法,但通常需在全维状态空间中构造传输映射或耦合。切片最优传输通过一维投影避免了全维构造,但所得投影映射仅定义方向位移,无法直接给出可实现的反馈律。为此,本文提出基于切片最优传输的有限时域控制框架:在每个采样时刻,投影最优传输映射定义方向性终端条件,其最小能量实现生成随机单方向控制器;对投影方向取平均得到确定性切片反馈。对于单积分器系统,该平均反馈使切片Wasserstein距离非增。对于高斯末端分布,该反馈为仿射形式,保持高斯性,并将均值与协方差精确导向目标值。进一步识别出依赖分布的增益,实现切片Wasserstein距离的线性衰减,并给出控制能量的显式表征。还证明随机控制器在采样周期趋零时收敛于平均切片流。最后将构造扩展至线性系统:可达性归一化坐标允许均匀完全驱动系统即时实现切片速度,而局部可控性格拉姆矩阵则对一般可控系统实现精确有限步控制。数值实验展示了所生成的分布演化过程。

原文摘要 · Abstract (English)

Distribution steering seeks feedback laws that drive the state law of a dynamical system between prescribed initial and terminal distributions. Optimal transport provides a natural geometric approach, but its implementation generally requires a transport map or coupling in the full state space. Sliced optimal transport avoids this full-dimensional construction through one-dimensional projections. Yet, the resulting projected maps specify only directional displacements and do not by themselves prescribe a realizable feedback law. To this end, we develop a finite-horizon control framework based on sliced optimal transport. At each sampling instant, a projected optimal transport map defines a directional terminal condition, whose minimum-energy realization yields a randomized single-direction controller. Averaging over projection directions gives a deterministic sliced feedback. For the single-integrator dynamics, the averaged feedback makes the sliced Wasserstein distance to the target non-increasing. For Gaussian endpoint laws, it is affine, preserves Gaussianity, and steers the mean and covariance to their prescribed terminal values. We further identify a law-dependent gain that yields linear decay of the sliced Wasserstein distance together with an explicit characterization of the control energy. We also prove that the randomized controller converges to the averaged sliced flow as the sampling period vanishes. Finally, we extend the construction to linear dynamical systems. Reachability-normalized coordinates allow instantaneous realization of the sliced velocity for uniformly fully actuated systems, while local controllability Gramians provide exact finite-step realization for general controllable systems. Numerical examples illustrate the resulting distributional flows.

最优传输分布控制随机控制线性系统

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