Author

Enrique Mallada

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Preprint Sep 2026

Data-Driven MPC with Adaptively Sampled Non-Expert Demonstrations: Performance Guarantees and Sample Complexity

We study data-driven policy construction for dynamical systems using trajectories generated by surrogate finite-horizon Model Predictive Control (MPC), with the goal of approximating an infinite-horizon optimal control policy. We interpret these trajectories as non-expert demonstrations and propose a memory-based, nonp...

Shi-Jie Pan, Agustin Castellano, Enrique Mallada · 0 citations

Jul 2026

Memory-Computation Tradeoffs in Semi Amortized Parametric Optimization

A general proof framework is provided that explicitly quantifies the memory cost of acceleration---how much offline memory is required to achieve a prescribed speedup over the unaided online optimizer---and identifies two key quantities driving this cost: the convergence rate of the online optimizer and the Lipschitz s...

Shijie Pan, Agustin Castellano, Zeyu Shen et al. · arXiv.org · 0 citations