Anh Tuan Vu

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

This paper develops a certified imitation-learning framework for approximating model predictive control (MPC) policies with feedforward neural controllers and validates it on autonomous-vehicle lateral control. An exact finite-horizon Q-loss is constructed by fixing the learner's first steering action in the expert MPC...