Composite-Gradient Learning for Shared Control Authority Between Deep Reinforcement Learning and Model Predictive Control
Integrated deep reinforcement learning (DRL) and model predictive control (MPC) methods are increasingly used to control autonomous systems by combining their complementary capabilities. DRL learns control policies through interaction with the environment. MPC uses a system model to optimize control inputs while accounting for constraints. In DRL-MPC frameworks with shared control authority, both the DRL agent and the MPC controller each determine part of the control inputs. However, common learning formulations treat MPC as part of the environment and therefore do not explicitly account for MPC's contribution to control or its interaction with the DRL agent. This paper proposes a novel c...
| Authors | Giray Önür, Azita Dabiri, Bart De Schutter |
|---|---|
| Primary category | cs.LG |
| Published | 15 September 2026 |
| Last updated at source | 15 September 2026 |
Silytics shows public metadata from arXiv and links to the original. Information may be incomplete or out of date. Last refreshed 17 October 2026. Licenses and terms of the original apply to the work itself. Not financial, legal or professional advice.