Model Predictive Control of Nonholonomic Vehicle Formations
We show that augmenting state representations with intent embeddings generated by an IQL-TD-MPC manager significantly improves off-the-shelf.
IQL-TD-MPC: Implicit Q-Learning for Hierarchical Model Predictive ...TD-MPC is a model-based reinforcement learning (MBRL) algorithm that performs local trajectory optimization in the latent space of a learned implicit ... TD-MPC2Extensive experiments demonstrate that the proposed approach improves performance over baselines such as TD-MPC2 by large margins, particularly in 61-DoF. Improving Temporal Difference MPC Through Policy ConstraintPage 2. TD-MPC. ? Plan using a learned model of the environment. Data-Driven Model Predictive Control (MPC). ? Objective intractable.
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