Hybrid differentiable-plus-zeroth-order policy optimization for MPC yields faster transients than pure data-driven methods while retaining convergence guarantees under model mismatch, demonstrated on a 12D quadcopter.
Gray-box nonlinear feed- back optimization.arXiv preprint arXiv:2404.04355
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Policy Optimization for Unknown Systems using Differentiable Model Predictive Control
Hybrid differentiable-plus-zeroth-order policy optimization for MPC yields faster transients than pure data-driven methods while retaining convergence guarantees under model mismatch, demonstrated on a 12D quadcopter.