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cs.LG2026
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…
cs.LG2025
Model-free Reinforcement Learning for Model-based Control: Towards Safe, Interpretable and Sample-efficient Agents
Thomas Banker, Ali Mesbah
Training sophisticated agents for optimal decision-making under uncertainty has been key to the rapid development of modern autonomous systems across fields. Notably, model-free re…
cs.LG2025
MPCritic: A plug-and-play MPC architecture for reinforcement learning
Nathan P. Lawrence, Thomas Banker, Ali Mesbah
The reinforcement learning (RL) and model predictive control (MPC) communities have developed vast ecosystems of theoretical approaches and computational tools for solving optimal…