Stability-Aware Imitation Learning from Model Predictive Control for Autonomous Vehicle Lateral Control: Exact Q-Loss and a Novel Training Procedure

Tien Dat Vu, Minh Quan Nguyen, Anh Tuan Vu +2

This paper develops a certified imitation-learning framework for approximating model predictive control (MPC) policies with feedforward neural controllers and validates it on auton…