相关论文: MPC4RL -- A Software Package for Reinforcement Lea…

Economic model predictive control (EMPC) is a promising methodology for optimal operation of dynamical processes that has been shown to improve process economics considerably. However, EMPC performance relies heavily on the accuracy of the…

In this work, we propose a novel learning-based model predictive control (MPC) framework for motion planning and control of urban self-driving. In this framework, instantaneous references and cost functions of online MPC are learned from…

We propose a hybrid reinforcement learning (RL) and model predictive control (MPC) framework for mixed-integer optimal control, where discrete variables enter the cost and dynamics but not the constraints. Existing hierarchical approaches…

In control applications there is often a compromise that needs to be made with regards to the complexity and performance of the controller and the computational resources that are available. For instance, the typical hardware platform in…

In this paper, we leverage the rapid advances in imitation learning, a topic of intense recent focus in the Reinforcement Learning (RL) literature, to develop new sample complexity results and performance guarantees for data-driven Model…

State-of-the-art model-based Reinforcement Learning (RL) approaches either use gradient-free, population-based methods for planning, learned policy networks, or a combination of policy networks and planning. Hybrid approaches that combine…

Model Predictive Control (MPC) is attracting tremendous attention in the autonomous driving task as a powerful control technique. The success of an MPC controller strongly depends on an accurate internal dynamics model. However, the static…

A key open challenge in agile quadrotor flight is how to combine the flexibility and task-level generality of model-free reinforcement learning (RL) with the structure and online replanning capabilities of model predictive control (MPC),…

Reinforcement learning (RL) and model predictive control (MPC) each offer distinct advantages and limitations when applied to control problems in power and energy systems. Despite various studies on these methods, benchmarks remain lacking…

A common setting of reinforcement learning (RL) is a Markov decision process (MDP) in which the environment is a stochastic discrete-time dynamical system. Whereas MDPs are suitable in such applications as video-games or puzzles, physical…

Reinforcement Learning (RL) is a powerful tool to perform data-driven optimal control without relying on a model of the system. However, RL struggles to provide hard guarantees on the behavior of the resulting control scheme. In contrast,…

We consider the problem of designing an algorithm to allow a car to autonomously merge on to a highway from an on-ramp. Two broad classes of techniques have been proposed to solve motion planning problems in autonomous driving: Model…

Reinforcement learning (RL) is a versatile framework for optimizing long-term goals. Although many real-world problems can be formalized with RL, learning and deploying a performant RL policy requires a system designed to address several…

Modern engineering systems, such as autonomous vehicles, flexible robotics, and intelligent aerospace platforms, require controllers that are robust to uncertainties, adaptive to environmental changes, and safety-aware under real-time…

Cooperative control of groups of autonomous vehicles (AVs), i.e., platoons, is a promising direction to improving the efficiency of autonomous transportation systems. In this context, distributed co-optimization of both vehicle speed and…

Process control is widely discussed in the manufacturing process, especially for semiconductor manufacturing. Due to unavoidable disturbances in manufacturing, different process controllers are proposed to realize variation reduction. Since…

Reinforcement learning (RL) and model predictive control (MPC) offer complementary strengths, yet combining them at scale remains computationally challenging. We propose soft MPCritic, an RL-MPC framework that learns in (soft) value space…

The recent increase in data availability and reliability has led to a surge in the development of learning-based model predictive control (MPC) frameworks for robot systems. Despite attaining substantial performance improvements over their…

Model predictive control (MPC) is a powerful trajectory optimization control technique capable of controlling complex nonlinear systems while respecting system constraints and ensuring safe operation. The MPC's capabilities come at the cost…

PC-Gym is an open-source tool for developing and evaluating reinforcement learning (RL) algorithms in chemical process control. It features environments that simulate various chemical processes, incorporating nonlinear dynamics,…