Stability-Aware Imitation Learning from Model Predictive Control for Autonomous Vehicle Lateral Control: Exact Q-Loss and a Novel Training Procedure

arXiv:2609.23506 · eess.SY, cs.SY · Submitted 2026-09-20 · Read on arXiv

eess.SY, cs.SY

Submitted: 2026-09-20

Updated: 2026-09-20

Terminology

• Steering — 45× in this paper · explained in 2 episodes
• Aggregation — 10× in this paper · explained in 1 episode
• Closed-Loop Control — 2× in this paper · explained in 3 episodes
• Distribution Shift — 2× in this paper · explained in 6 episodes
• PID Controller — 2× in this paper · explained in 2 episodes
• Accuracy — 1× in this paper · explained in 1 episode
• Closed-Loop System — 1× in this paper · explained in 4 episodes
• Ho Chi Minh City University of Technology — 1× in this paper
• Local Optimization — 1× in this paper · explained in 2 episodes
• Model Predictive Control (MPC) — 1× in this paper · explained in 5 episodes
• Regret — 1× in this paper · explained in 3 episodes

Sources

• DropoutDAgger: A Bayesian Approach to Safe Imitation Learning

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