PG-DPO
Pontryagin-guided control recovery
A common computational architecture: simulate a continuation policy, estimate adapted adjoints by BPTT, then enforce the problem-specific local Pontryagin condition in action space.
Schematic educational visualization. Curves and diagnostics illustrate mechanisms; they are not reproduced experiment logs.
Example
The papers group II-A and II-B together as Stage II; the playground separates them to make the mechanism visible.
Figure 1
Rollout warm-up
Figure 2
Adapted adjoints
Figure 3
Local recovery
Research scope