Learning from the hindsight plan โ Episodic MPC improvement
Learning from the hindsight plan โ Episodic MPC improvement
Model predictive control (MPC) is a popular control method that has proved effective for robotics, among other fields. MPC performs re-planning at every time step. Re-planning is done with a limited horizon per computational and real-time constraints and often also for robustness to potential model errors. However, the limited horizon โฆ