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Soft MPCritic: Value-Based Reinforcement Learning for Non-Differentiable Predictive Control
Reinforcement learning (RL) and model predictive control (MPC) offer complementary strengths, yet existing MPC-RL frameworks commonly rely on gradient-based optimization and therefore cannot handle the non-differentiable dynamics and objectives common in RL. We propose Soft MPCritic, an MPC-RL frame
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