Composite-Gradient Learning for Shared Control Authority Between Deep Reinforcement Learning and Model Predictive Control

arXiv:2609.17697 · cs.LG, cs.SY, eess.SY · Submitted 2026-09-15 · Read on arXiv

cs.LG, cs.SY, eess.SY

Submitted: 2026-09-15

Updated: 2026-09-15

Code: https://github.com/GirayOnur/composite-gradient-learning

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

Terminology

• Actor — 32× in this paper · explained in 3 episodes
• Reinforcement Learning — 10× in this paper · explained in 4 episodes
• Deep Reinforcement Learning — 8× in this paper · explained in 2 episodes
• Cosine Similarity — 5× in this paper · explained in 3 episodes
• Model Predictive Control (MPC) — 3× in this paper · explained in 5 episodes
• Action Space — 2× in this paper · explained in 1 episode
• Adam — 2× in this paper · explained in 2 episodes
• Deep Reinforcement Learning (DRL) — 2× in this paper · explained in 2 episodes
• International Conference on Learning Representations — 2× in this paper
• Accuracy — 1× in this paper · explained in 1 episode
• Actor-Critic Learning — 1× in this paper · explained in 1 episode
• Alignment — 1× in this paper · explained in 1 episode
• Benchmark — 1× in this paper · explained in 2 episodes
• Deep Deterministic Policy Gradient — 1× in this paper
• European Research Council — 1× in this paper
• Objective Function — 1× in this paper · explained in 2 episodes

Sources

• Optimistix: modular optimisation in JAX and Equinox

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