Typo in the arxived paper and some question on the notation.

[mch5048]

Hi, thanks for brining a new perspective to this field with this paper. I really enjoyed reading it.

While reading through the paper, I found a typo in the inline equation that describes the MPC.

In the Model predictive control subsection under Preliminaries, it is stated that the globally optimal policy
\Pi_{\theta} is proportional to the expectation of the negated Q-values.
I think the negation should be removed, intuitively.

Another question regarding the description of MPPI in Sec. 3 is about Eq.(4), that describes the CEM.

Here, the mean/var of the j-th policy is computed based on weighted/shifted \Gamma, where \Gamma is
denoted as sampled trajectory in the paragraph. I guess the authors meant the state-action sequence as \Gamma.
Thus, \Gamma^{\star}_i in Eq.(4) should be replaced with the action I guess.
Maybe the code snippet here
corresponds to this equation?

I wonder if I understood it correctly.
Thanks in advance!

[nicklashansen]

Hi, glad to hear that you find our work interesting, and thank you for the feedback! You are right, I'll make sure to include these things in the next revision. Thanks!