相关论文: Evaluation of MPC-based Imitation Learning for Hum…

In recent years, imitation learning (IL) has been widely used in industry as the core of autonomous vehicle (AV) planning modules. However, previous IL works show sample inefficiency and low generalisation in safety-critical scenarios, on…

We propose a demonstration-efficient strategy to compress a computationally expensive Model Predictive Controller (MPC) into a more computationally efficient representation based on a deep neural network and Imitation Learning (IL). By…

We present an Imitation Learning approach for the control of dynamical systems with a known model. Our policy search method is guided by solutions from MPC. Typical policy search methods of this kind minimize a distance metric between the…

An approach to resilient planning and control of autonomous vehicles in multi-vehicle traffic scenarios is proposed. The proposed method is based on model predictive control (MPC), where alternative predictions of the surrounding traffic…

Imitation learning (IL) can generate computationally efficient sensorimotor policies from demonstrations provided by computationally expensive model-based sensing and control algorithms. However, commonly employed IL methods are often…

Autonomous driving has attracted great attention from both academics and industries. To realise autonomous driving, Deep Imitation Learning (DIL) is treated as one of the most promising solutions, because it improves autonomous driving…

A central challenge for autonomous vehicles is coordinating with humans. Therefore, incorporating realistic human agents is essential for scalable training and evaluation of autonomous driving systems in simulation. Simulation agents are…

We present a sequential distributed model predictive control (MPC) scheme for cooperative control of multi-agent systems with dynamically decoupled heterogeneous nonlinear agents subject to individual constraints. In the scheme, we explore…

In this article, we propose an optimization-based integrated behavior planning and motion control scheme, which is an interpretable and adaptable urban autonomous driving solution that complies with complex traffic rules while ensuring…

Robotic tasks which involve uncertainty--due to variation in goal, environment configuration, or confidence in task model--may require human input to instruct or adapt the robot. In tasks with physical contact, several existing methods for…

This paper studies the closed-loop dynamics of linear systems under approximate model predictive control (MPC). More precisely, we consider MPC implementations based on a finite number of ADMM iterations per time-step. We first show that…

This paper provides a comprehensive tutorial on a family of Model Predictive Control (MPC) formulations, known as MPC for tracking, which are characterized by including an artificial reference as part of the decision variables in the…

Designing the objective function in Model Predictive Control (MPC) is challenging when performance assessment criteria are available only from human judgment. We adopt a preference-based learning (PbL) approach to learn the MPC objective…

Model-based policy optimization often struggles with inaccurate system dynamics models, leading to suboptimal closed-loop performance. This challenge is especially evident in Model Predictive Control (MPC) policies, which rely on the model…

Sidewalk micromobility is a promising solution for last-mile transportation, but current learning-based control methods struggle in complex urban environments. Imitation learning (IL) learns policies from human demonstrations, yet its…

Autonomous drone racing presents a challenging control problem, requiring real-time decision-making and robust handling of nonlinear system dynamics. While iterative learning model predictive control (LMPC) offers a promising framework for…

Self-evolution is indispensable to realize full autonomous driving. This paper presents a self-evolving decision-making system based on the Integrated Decision and Control (IDC), an advanced framework built on reinforcement learning (RL).…

Even though model predictive control (MPC) is currently the main algorithm for insulin control in the artificial pancreas (AP), it usually requires complex online optimizations, which are infeasible for resource-constrained medical devices.…

This paper addresses autonomous racing by introducing a real-time nonlinear model predictive controller (NMPC) coupled with a moving horizon estimator (MHE). The racing problem is solved by an NMPC-based off-line trajectory planner that…

Sequential and terminal constraint feasibility of the model predictive control (MPC) play important roles in ensuring MPC control continuity. This study thus investigates these two properties theoretically using an MPC model for vehicle…