Data Science Archive

NIPS 2018 上 MPC solver，用于在强化学习模型中的控制辅助。Specifically, we differentiate through MPC by using the KKT conditions of the convex approximation at a fixed point of the controller. 作者是用在 PyTorch 上，做了一个 PyTorch 的 Lib，不过确实先前的control methods 都有局限。
paper: https://arxiv.org/abs/1810.13400
code: https://github.com/locuslab/mpc.pytorch
link: https://locuslab.github.io/mpc.pytorch/

arXiv.org

Differentiable MPC for End-to-end Planning and Control

We present foundations for using Model Predictive Control (MPC) as a differentiable policy class for reinforcement learning in continuous state and action spaces. This provides one way of...

www.tgoop.com/DataScienceArchive/24

619 views小熊猫, Nov 10, 2018 at 06:10

NIPS 2018 上 MPC solver，用于在强化学习模型中的控制辅助。Specifically, we differentiate through MPC by using the KKT conditions of the convex approximation at a fixed point of the controller. 作者是用在 PyTorch 上，做了一个 PyTorch 的 Lib，不过确实先前的control methods 都有局限。
paper: https://arxiv.org/abs/1810.13400
code: https://github.com/locuslab/mpc.pytorch
link: https://locuslab.github.io/mpc.pytorch/

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