2 papers
cs.RO2026
Actor-Critic Cooperative Compensation to Model Predictive Control for Off-Road Autonomous Vehicles Under Unknown Dynamics
Prakhar Gupta, Jonathon M Smereka, Yunyi Jia
This study presents an Actor-Critic Cooperative Compensated Model Predictive Controller (AC3MPC) designed to address unknown system dynamics. To avoid the difficulty of modeling hi…
cs.RO2026
Reinforcement Learning Compensated Model Predictive Control for Off-road Driving on Unknown Deformable Terrain
Prakhar Gupta, Jonathon M. Smereka, Yunyi Jia
This study presents an Actor-Critic reinforcement learning Compensated Model Predictive Controller (AC2MPC) designed for high-speed, off-road autonomous driving on deformable terra…