{"paper":{"title":"AC4MPC: Actor-Critic Reinforcement Learning for Nonlinear Model Predictive Control","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","headline":"","cross_cats":["cs.AI","cs.SY"],"primary_cat":"eess.SY","authors_text":"Andrea Ghezzi, Jasper Hoffmann, Katrin Baumg\\\"artner, Moritz Diehl, Robert D. McAllister, Rudolf Reiter","submitted_at":"2024-06-06T12:15:51Z","abstract_excerpt":"\\Ac{MPC} and \\ac{RL} are two powerful control strategies with, arguably, complementary advantages. In this work, we show how actor-critic \\ac{RL} techniques can be leveraged to improve the performance of \\ac{MPC}. The \\ac{RL} critic is used as an approximation of the optimal value function, and an actor roll-out provides an initial guess for primal variables of the \\ac{MPC}. A parallel control architecture is proposed where each \\ac{MPC} instance is solved twice for different initial guesses. Besides the actor roll-out initialization, a shifted initialization from the previous solution is used"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2406.03995","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2406.03995/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}