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Ettienne Caban-Klepac

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Session H Abstracts Actor-critic reinforcement learning for model predictive control for the Autonomous Indy Car Challenge

This project implements AC4MPC, in which a reinforcement-learning agent is trained on the exact cost a model predictive controller optimizes, and its learned value function (critic) is embedded in the MPC as a terminal cost.

Ettienne Caban-Klepac, Soon-Jo Chung, Gilchrist X. Johnson et al. · 0 citations