Deep RL for MPC control of Quadruped Robot Locomotion

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Combining Reinforcement Learning with Model Predictive Control for On-Ramp Merging

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RL-based MPC for Discrete-Time Nonlinear Systems (Python)

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Safety-aware MPC-based RL framework

Safe control of unknown dynamic systems with reinforcement learning and model predictive control

No description available

Highway Traffic Control with MPC-based RL

CDC2024_submission_repository

Use DQN to boost MPC computation for dynamic obstacle avoidance.

This project implements a reinforcement learning (RL) agent integrated with a Model Predictive Controller (MPC) for autonomous lane changing using SUMO (Simulation of Urban MObility).

Explore efficient energy management in renewable communities through the implementation of Model Predictive Control (MPC) and Reinforcement Learning (RL). This GitHub repository houses the codebase for optimizing renewable energy systems, promoting sustainable practices and smart energy utilization. MSc Mechanical Eng Thesis // Pier Luca Anania

Introduction to Reinforcement Learning and Model Predictive Control with MATLAB and Simulink

This repository contains the code for our paper on Dynamic Mirror Descent based MPC for Model-Free RL

Offroad autonomous navigation based on MPC and model-based RL using RC cars

Z. Sun, Q. Wang, J. Pan and Y. Xia, "Data-Driven MPC for Linear Systems using Reinforcement Learning," 2021 China Automation Congress (CAC), Beijing, China, 2021, pp. 394-399, doi: 10.1109/CAC53003.2021.9728233.

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a RL-MPC control scheme for Autonomous Driving

RL training for quadruped robot(mit minicheetah) various gaits in different velocity based on MPC controller.

Combining RL and MPC for greenhouse control.

This repo is related to Deep Policy search using MPC.

This study explores using RL for CSTR control, assessing effectiveness vs. traditional controllers (PID, MPC). RL learns optimal behavior to maximize rewards, outperforming NMPC with exploration and lower computational load.

Control of ur5e robot in mujoco using iLQG, MPC, RL

Neural Laplace Control for Continuous-time Delayed Systems - an offline RL method combining Neural Laplace dynamics model and MPC planner to achieve near-expert policy performance in environments with irregular time intervals and an unknown constant delay.

Code and slides

repo for the MPC-RL summer school project

Hands-on tutorial about Meta RL and GP-MPC at the RL4AA'24 workshop.

Whole-body motion planning for Unitree G1 humanoid in MuJoCo - ZMP preview control, A* footstep planning, MPC balance (49% energy reduction), RL locomotion, and Jacobian IK manipulation