MM-LMPC: Multi-Modal Learning Model Predictive Control via Mode-Specific Terminal Design and Bandit-Based Exploration

Learning Model Predictive Control (LMPC) improves iterative control tasks by using previous executions to construct the terminal constraint and terminal cost of the MPC problem. Although effective, this reuse of past trajectories can make LMPC sensitive to the initial data. In particular, LMPC may r