Soft MPCritic: Value-Based Reinforcement Learning for Non-Differentiable Predictive Control

arXiv:2604.01477 · cs.LG, cs.SY, eess.SY · Submitted 2026-04-01 · Read on arXiv

cs.LG, cs.SY, eess.SY

Submitted: 2026-04-01

Updated: 2026-10-12

Code: https://github.com/NPLawrence/soft-mpcritic

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Reinforcement Learning — 2× in this paper · explained in 4 episodes
• Accuracy — 1× in this paper · explained in 1 episode
• Model Predictive Control (MPC) — 1× in this paper · explained in 6 episodes
• Model Predictive Path Integral control (MPPI) — 1× in this paper · explained in 2 episodes
• Reinforcement Learning (RL) — 1× in this paper · explained in 25 episodes

Sources

• Benchmarking Model-Based Reinforcement Learning
• Model-Based Value Estimation for Efficient Model-Free Reinforcement Learning
• Reinforcement Learning and Control as Probabilistic Inference: Tutorial and Review
• Model Predictive Control via Probabilistic Inference: A Tutorial and Survey

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