Open access
Oct 2025
Residual MPC: Blending Reinforcement Learning With GPU-Parallelized Model Predictive Control
This work presents a GPU-parallelized residual architecture that tightly integrates MPC and RL by blending their outputs at the torque-control level, achieving higher sample efficiency, converges to greater asymptotic rewards, expands the range of trackable velocity commands, and enables zero-shot adaptation to unseen...
Seungmin Jeon, Ho Jae Lee, Seung-Woo Hong et al.
· IEEE Transactions on robotic... · 10 citations