Accelerating Reinforcement Learning via MPC Solver-Gradient Guidance for Weights-varying MPC

arXiv:2609.01061 · cs.RO, cs.LG, cs.SY, eess.SY · Submitted 2026-09-01 · Read on arXiv

cs.RO, cs.LG, cs.SY, eess.SY

Submitted: 2026-09-01

Updated: 2026-09-01

Comments: Submitted to IEEE Transactions on Robotics (T-RO). 18 pages, 13 figures

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

Terminology

• Actor — 32× in this paper · explained in 3 episodes
• Adaptation — 28× in this paper · explained in 1 episode
• Reinforcement Learning — 27× in this paper · explained in 4 episodes
• Steering — 14× in this paper · explained in 2 episodes
• Sample Efficiency — 10× in this paper · explained in 4 episodes
• Benchmark — 6× in this paper · explained in 2 episodes
• Fidelity — 6× in this paper · explained in 2 episodes
• Ablation — 5× in this paper · explained in 1 episode
• Alignment — 5× in this paper · explained in 1 episode
• Regularization — 5× in this paper · explained in 3 episodes
• Action Space — 4× in this paper · explained in 1 episode
• Online Adaptation — 4× in this paper · explained in 3 episodes
• Reinforcement Learning (RL) — 4× in this paper · explained in 25 episodes
• Solver-Gradient Guided Reinforcement Learning — 4× in this paper
• Bayesian Optimization — 3× in this paper · explained in 3 episodes
• Core — 3× in this paper · explained in 2 episodes
• IEEE Intelligent Vehicles Symposium — 3× in this paper
• In Model Predictive Control — 3× in this paper
• Model Predictive Control (MPC) — 3× in this paper · explained in 5 episodes
• Robustness — 3× in this paper · explained in 5 episodes
• Accuracy — 2× in this paper · explained in 1 episode
• American Control Conference — 2× in this paper
• Consistency — 2× in this paper · explained in 3 episodes
• Credit assignment — 2× in this paper · explained in 3 episodes
• Deep Reinforcement Learning — 2× in this paper · explained in 2 episodes
• European Control Conference — 2× in this paper
• Generalization — 2× in this paper · explained in 13 episodes
• Indy Autonomous Challenge — 2× in this paper
• Q-learning — 2× in this paper · explained in 3 episodes
• Ablation study — 1× in this paper · explained in 1 episode
• Actor-Critic Architecture — 1× in this paper · explained in 1 episode
• Actor-Critic Model — 1× in this paper · explained in 1 episode
• Adaptability — 1× in this paper · explained in 1 episode
• Adaptive Mechanism — 1× in this paper · explained in 1 episode
• Convergence Guarantees — 1× in this paper · explained in 3 episodes
• IEEE Conference on Decision and Control — 1× in this paper
• Meta-learning — 1× in this paper · explained in 2 episodes
• Proximal Policy Optimization (PPO) — 1× in this paper · explained in 4 episodes
• SG-RL in Proximal Policy Optimization — 1× in this paper
• System Identification — 1× in this paper · explained in 3 episodes
• World Model — 1× in this paper · explained in 7 episodes
• Zero-Shot Generalization — 1× in this paper · explained in 5 episodes
• alpha — 1× in this paper · explained in 1 episode

Sources

• Cost-Matching Model Predictive Control for Efficient Reinforcement Learning in Humanoid Locomotion
• TD-MPC2: Scalable, Robust World Models for Continuous Control
• High-Dimensional Continuous Control Using Generalized Advantage Estimation

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