Optimal Cost Design for Model Predictive Control

1 code implementation • 23 Apr 2021 • Avik Jain, Lawrence Chan, Daniel S. Brown, Anca D. Dragan

We test our approach in an autonomous driving domain where we find costs different from the ground truth that implicitly compensate for replanning, short horizon, incorrect dynamics models, and local minima issues.

Autonomous Driving Model Predictive Control