Preprint
Sep 2026
Stability-Aware Imitation Learning from Model Predictive Control for Autonomous Vehicle Lateral Control: Exact Q-Loss and a Novel Training Procedure
A certified imitation-learning framework for approximating model predictive control (MPC) policies with feedforward neural controllers with feedforward neural controllers is developed and validates it on autonomous-vehicle lateral control.
Tien Dat Vu, Minh Q. Nguyen, Anh Tuan Vu et al.
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