TransformerMPPI uses a transformer trained on MPPI-generated trajectories to initialize the mean control sequence, reducing cost and sample counts in navigation and racing simulations.
Review on model predictive control: An en- gineering perspective
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Transformer-Based Model Predictive Path Integral Control
TransformerMPPI uses a transformer trained on MPPI-generated trajectories to initialize the mean control sequence, reducing cost and sample counts in navigation and racing simulations.