146 citations · 565 across the 24 of their papers we have counts for
3 papers · 1 filter
Error whitening: Why Gauss-Newton outperforms Newton
Maricela Best McKay, Nathan P. Lawrence, Brian Wetton +1
The Gauss-Newton matrix is widely viewed as a positive semidefinite approximation of the Hessian, yet mounting empirical evidence shows that Gauss-Newton descent outperforms Newton…
The Separation Principle and the Dual-Certainty Equivalence Gap in Model Predictive Control
Tren Baltussen, Nathan P. Lawrence, Alexander Katriniok +2
Dual control addresses the trade-off between exploitation and exploration, where control inputs both regulate the system and generate informative data for estimation and identifica…
Soft MPCritic: Value-Based Reinforcement Learning for Non-Differentiable Predictive Control
Thomas Banker, Nathan P. Lawrence, Ali Mesbah
Reinforcement learning (RL) and model predictive control (MPC) offer complementary strengths, yet existing MPC-RL frameworks commonly rely on gradient-based optimization and theref…