Q-Guided Stein Variational Model Predictive Control via RL-informed Policy Prior

arXiv:2507.06625 · cs.RO, cs.AI, cs.LG · Submitted 2025-07-09 · Read on arXiv

cs.RO, cs.AI, cs.LG

Submitted: 2025-07-09

Updated: 2026-09-05

Comments: Accepted to IROS 2026

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Actor — 14× in this paper · explained in 3 episodes
• Model Predictive Control — 14× in this paper
• Robustness — 11× in this paper · explained in 5 episodes
• Benchmark — 8× in this paper · explained in 2 episodes
• Reinforcement Learning — 8× in this paper · explained in 4 episodes
• Ablation — 7× in this paper · explained in 1 episode
• Model Predictive Control (MPC) — 4× in this paper · explained in 5 episodes
• Soft Actor-Critic — 4× in this paper
• Sample Efficiency — 3× in this paper · explained in 4 episodes
• Ablation Studies — 2× in this paper · explained in 1 episode
• Ablation study — 2× in this paper · explained in 1 episode
• Action Space — 2× in this paper · explained in 1 episode
• Bayesian Inference — 2× in this paper · explained in 5 episodes
• Deep Reinforcement Learning — 2× in this paper · explained in 2 episodes
• Mode Collapse — 2× in this paper · explained in 2 episodes
• Proceedings of the Conference on Robot Learning — 2× in this paper
• Adaptability — 1× in this paper · explained in 1 episode
• Closed-Loop Control — 1× in this paper · explained in 3 episodes
• Consistency — 1× in this paper · explained in 3 episodes
• Cross-Entropy Method — 1× in this paper
• Diffusion Model — 1× in this paper · explained in 8 episodes
• Diffusion Models — 1× in this paper · explained in 6 episodes
• Latent Dynamics — 1× in this paper · explained in 2 episodes
• Model Predictive Path Integral — 1× in this paper
• Model Predictive Path Integral (MPPI) — 1× in this paper · explained in 3 episodes
• Physical Constraints — 1× in this paper · explained in 7 episodes
• Regularization — 1× in this paper · explained in 3 episodes
• Reinforcement Learning (RL) — 1× in this paper · explained in 25 episodes
• Reward Function — 1× in this paper · explained in 2 episodes
• Sim-to-Real Transfer — 1× in this paper · explained in 2 episodes
• Steering — 1× in this paper · explained in 2 episodes
• Trace — 1× in this paper · explained in 2 episodes

Sources

• AC4MPC: Actor-Critic Reinforcement Learning for Nonlinear Model Predictive Control
• Reinforcement Learning and Control as Probabilistic Inference: Tutorial and Review
• Model Predictive Control via Probabilistic Inference: A Tutorial and Survey
• Isaac Gym: High Performance GPU-Based Physics Simulation For Robot Learning

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