Differentiable MPC for End-to-end Planning and Control

31 October 2018

J. Zico Kolter

Papers citing "Differentiable MPC for End-to-end Planning and Control"

50 / 101 papers shown

Title
Differentiable Nonlinear Model Predictive Control Jonathan Frey Katrin Baumgärtner G. Frison D. Reinhardt Jasper Hoffmann Leonard Fichtner S. Gros Moritz Diehl 26 0 0 02 May 2025
DiffOG: Differentiable Policy Trajectory Optimization with Generalizability Zhengtong Xu Zichen Miao Qiang Qiu Zhe Zhang Yu She 60 0 0 18 Apr 2025
Imperative MPC: An End-to-End Self-Supervised Learning with Differentiable MPC for UAV Attitude Control Haonan He Yuheng Qiu Junyi Geng 86 0 0 17 Apr 2025
MonoForce: Learnable Image-conditioned Physics Engine R. Agishev Karel Zimmermann 90 0 0 14 Feb 2025
Imperative Learning: A Self-supervised Neuro-Symbolic Learning Framework for Robot Autonomy Chen Wang Kaiyi Ji Junyi Geng Zhongqiang Ren Taimeng Fu ... Yi Du Qihang Li Yuqing Yang Xiao Lin Zhipeng Zhao SSL 89 9 0 28 Jan 2025
MonoForce: Self-supervised Learning of Physics-informed Model for Predicting Robot-terrain Interaction R. Agishev Karel Zimmermann V. Kubelka M. Pecka Tomávs Svoboda 53 3 0 03 Jan 2025
LoRD: Adapting Differentiable Driving Policies to Distribution Shifts Christopher P. Diehl Peter Karkus Sushant Veer Marco Pavone Torsten Bertram 170 0 0 13 Oct 2024
Online Control-Informed Learning Zihao Liang Tianyu Zhou Zehui Lu Shaoshuai Mou 33 1 0 04 Oct 2024
Autonomous Wheel Loader Navigation Using Goal-Conditioned Actor-Critic MPC Aleksi Mäki-Penttilä Naeim Ebrahimi Toulkani Reza Ghabcheloo 34 0 0 24 Sep 2024
Robust Agility via Learned Zero Dynamics Policies Noel Csomay-Shanklin William D. Compton I. D. Rodriguez Eric R. Ambrose Yisong Yue Aaron D. Ames 48 1 0 10 Sep 2024
Think Deep and Fast: Learning Neural Nonlinear Opinion Dynamics from Inverse Dynamic Games for Split-Second Interactions Haimin Hu Jonathan A. DeCastro Deepak Gopinath Guy Rosman Naomi Ehrich Leonard J. F. Fisac 64 5 0 14 Jun 2024
AC4MPC: Actor-Critic Reinforcement Learning for Nonlinear Model Predictive Control Rudolf Reiter Andrea Ghezzi Katrin Baumgärtner Jasper Hoffmann Robert D. McAllister Moritz Diehl 34 6 0 06 Jun 2024
A neural network-based approach to hybrid systems identification for control F. Fabiani Bartolomeo Stellato Daniele Masti Paul Goulart 25 2 0 02 Apr 2024
Task-optimal data-driven surrogate models for eNMPC via differentiable simulation and optimization Daniel Mayfrank Na Young Ahn Alexander Mitsos Manuel Dahmen 34 2 0 21 Mar 2024
NeuPAN: Direct Point Robot Navigation with End-to-End Model-based Learning Ruihua Han Shuai Wang Shuaijun Wang Zeqing Zhang Jianjun Chen ... Chengyang Li Chengzhong Xu Yonina C. Eldar Qi Hao Jia Pan 3DPC 40 2 0 11 Mar 2024
DiffTORI: Differentiable Trajectory Optimization for Deep Reinforcement and Imitation Learning Weikang Wan Ziyu Wang Zackory M. Erickson David Held David Held 34 4 0 08 Feb 2024
DiffTune-MPC: Closed-Loop Learning for Model Predictive Control Ran Tao Sheng Cheng Xiaofeng Wang Shenlong Wang N. Hovakimyan 30 5 0 18 Dec 2023
Differentiable Visual Computing for Inverse Problems and Machine Learning Andrew Spielberg Fangcheng Zhong Konstantinos Rematas Krishna Murthy Jatavallabhula Cengiz Öztireli Tzu-Mao Li Derek Nowrouzezahrai 51 7 0 21 Nov 2023
RAYEN: Imposition of Hard Convex Constraints on Neural Networks J. Tordesillas Jonathan P. How Marco Hutter 32 11 0 17 Jul 2023
Actor-Critic Model Predictive Control Angel Romero Yunlong Song Davide Scaramuzza 47 35 0 16 Jun 2023
Leaving the Nest: Going Beyond Local Loss Functions for Predict-Then-Optimize Sanket Shah Andrew Perrault Bryan Wilder Milind Tambe 23 9 0 26 May 2023
Affordances from Human Videos as a Versatile Representation for Robotics Shikhar Bahl Russell Mendonca Lili Chen Unnat Jain Deepak Pathak 50 164 0 17 Apr 2023
Learning Stability Attention in Vision-based End-to-end Driving Policies Tsun-Hsuan Wang Wei Xiao Makram Chahine Alexander Amini Ramin Hasani Daniela Rus 30 6 0 05 Apr 2023
Meta-Learning Parameterized First-Order Optimizers using Differentiable Convex Optimization Tanmay Gautam Samuel Pfrommer Somayeh Sojoudi 26 2 0 29 Mar 2023
Incorporating Recurrent Reinforcement Learning into Model Predictive Control for Adaptive Control in Autonomous Driving Yehui Zhang Joschka Boedecker Chuxuan Li Guyue Zhou 17 0 0 30 Jan 2023
Distribution-aware Goal Prediction and Conformant Model-based Planning for Safe Autonomous Driving Jonathan M Francis Bingqing Chen Weiran Yao Eric Nyberg Jean Oh OOD 32 5 0 16 Dec 2022
Learning Robotic Navigation from Experience: Principles, Methods, and Recent Results Sergey Levine Dhruv Shah SSL 46 21 0 13 Dec 2022
DiffStack: A Differentiable and Modular Control Stack for Autonomous Vehicles Peter Karkus Boris Ivanovic Shie Mannor Marco Pavone 36 46 0 13 Dec 2022
Learning to Optimize in Model Predictive Control Jacob Sacks Byron Boots 27 22 0 05 Dec 2022
Learning Sampling Distributions for Model Predictive Control Jacob Sacks Byron Boots 11 21 0 05 Dec 2022
Lie Group Forced Variational Integrator Networks for Learning and Control of Robot Systems Valentin Duruisseaux T. Duong Melvin Leok Nikolay Atanasov DRL AI4CE 29 12 0 29 Nov 2022
Evaluation of MPC-based Imitation Learning for Human-like Autonomous Driving F. S. Acerbo Jan Swevers Tinne Tuytelaars Tong Duy Son 35 3 0 22 Nov 2022
Control Transformer: Robot Navigation in Unknown Environments through PRM-Guided Return-Conditioned Sequence Modeling Daniel Lawson A. H. Qureshi 24 8 0 11 Nov 2022
Learning Modular Robot Locomotion from Demonstrations Julian Whitman Howie Choset 31 1 0 31 Oct 2022
Learning Modular Robot Visual-motor Locomotion Policies Julian Whitman Howie Choset 26 1 0 31 Oct 2022
Conditional Diffusion with Less Explicit Guidance via Model Predictive Control Max W. Shen Ehsan Hajiramezanali Gabriele Scalia Alex Tseng N. Diamant Tommaso Biancalani Andreas Loukas 34 1 0 21 Oct 2022
Neural ODEs as Feedback Policies for Nonlinear Optimal Control I. O. Sandoval Panagiotis Petsagkourakis Ehecatl Antonio del Rio Chanona 25 9 0 20 Oct 2022
Weighted Maximum Likelihood for Controller Tuning Angel Romero Shreedhar Govil Gonca Yilmaz Yunlong Song Davide Scaramuzza 41 14 0 20 Oct 2022
When to Update Your Model: Constrained Model-based Reinforcement Learning Tianying Ji Yu-Juan Luo Gang Hua Mingxuan Jing Fengxiang He Wen-bing Huang 24 18 0 15 Oct 2022
On the Forward Invariance of Neural ODEs Wei Xiao Tsun-Hsuan Wang Ramin Hasani Mathias Lechner Yutong Ban Chuang Gan Daniela Rus 42 11 0 10 Oct 2022
Dynamic Inference on Graphs using Structured Transition Models Saumya Saxena Oliver Kroemer AI4CE 46 0 0 29 Sep 2022
System Resilience through Health Monitoring and Reconfiguration Ion Matei W. Piotrowski Alexandre Perez Johan de Kleer J. Tierno Wendy Mungovan Vance Turnewitsch 39 7 0 30 Aug 2022
Data-driven End-to-end Learning of Pole Placement Control for Nonlinear Dynamics via Koopman Invariant Subspaces Tomoharu Iwata Yoshinobu Kawahara 19 3 0 16 Aug 2022
Differentiable Predictive Control with Safety Guarantees: A Control Barrier Function Approach Wenceslao Shaw-Cortez Ján Drgoňa Aaron Tuor M. Halappanavar D. Vrabie 23 7 0 03 Aug 2022
Differentiable Integrated Motion Prediction and Planning with Learnable Cost Function for Autonomous Driving Zhiyu Huang Haochen Liu Jingda Wu Chen Lv 37 92 0 21 Jul 2022
Distributionally Robust End-to-End Portfolio Construction Giorgio Costa G. Iyengar OOD 11 13 0 10 Jun 2022
Integrating Symmetry into Differentiable Planning with Steerable Convolutions Linfeng Zhao Xu Zhu Lingzhi Kong Robin Walters Lawson L. S. Wong 22 7 0 08 Jun 2022
Neural Lyapunov Differentiable Predictive Control Sayak Mukherjee Ján Drgoňa Aaron Tuor M. Halappanavar D. Vrabie 42 13 0 22 May 2022
Expert-Calibrated Learning for Online Optimization with Switching Costs Pengfei Li Jianyi Yang Shaolei Ren 29 11 0 18 Apr 2022
Gradient boosting for convex cone predict and optimize problems A. Butler R. Kwon 28 2 0 14 Apr 2022