# Entropy-Guided Control Improv

# Control Improv as Declarative Synthesis

# Control Improv as Declarative Synthesis

# Control Improv as Declarative Synthesis

# Control Improv as Declarative Synthesis

# Applications of Control Improv

# Applications of Control Improv

# Applications of Control Improv

# Applications of Control Improv

# Applications of Control Improv

# Applications of Control Improv

# Applications of Control Improv

# Applications of Control Improv

# Control Improvisation

# Prior work

# Prior work

# Contribution

# Four parts to the specification

# Synthesis Process

# Preprocessing

# Preprocessing

# Preprocessing

# Memoizing Pareto Fronts

# Memoizing Pareto Fronts

# Memoizing Pareto Fronts

# Memoizing Pareto Fronts

# Memoizing Pareto Fronts