Before revision:  To address these concerns, we introduce the Entropic Reactive Control Improvisation (ERCI) framework and algorithm that supports synthesizing control policies for stochastic games that are declaratively specified by (i) a hard constraint specifying what must occur  (ii) a soft constraint specifying what typically occurs, and (iii) a randomization constraint specifying the unpredictability and variety of the controller, as quantified using causal entropy.
After revision:  To address these concerns, we introduce the Entropic Reactive Control Improvisation (ERCI) framework and algorithm which supports synthesizing control policies for stochastic games that are declaratively specified by (i) a hard constraint specifying what must occur (ii) a soft constraint specifying what typically occurs, and (iii) a randomization constraint specifying the unpredictability and variety of the controller, as quantified using causal entropy.