aiqbench analysis
The paper combines actor-critic reinforcement learning with a differentiable MPC layer, adding explicit state constraints for collision avoidance. This addresses a known limitation: differentiable MPC layers struggle to enforce hard constraints inside learned planners. The results are simulation and multi-robot experiments in narrow spaces, so the claimed efficiency and safety gains need independent validation on real hardware and broader benchmarks.
AC-SMPC: Differentiable Actor--Critic MPC with State Constraints for Safe and Fast Robot Navigation
arXiv:2610.41477v1 Announce Type: new Abstract: Achieving safe navigation in confined dynamic environments remains a challenging problem, as robots must balance navigation efficiency with safety. Existing actor--critic MPC architectures typically employ differentiable MPC layers, but this way cannot readily accommodate explicit state constraints, making it intractable to involve collision avoidance within learning-based planning. To address this issue, we propose an actor--critic model predictive control framework with state constraints. We first use vertices to represent the robot and obstacles, and half-spaces to represent the workspace. Based on these, the nonlinear robot dynamics is locally linearized and the hyperplane-based collision avoidance constraints are convexified into the differentiable MPC layer, and then the actor exploits closed-loop feedback to adjust the MPC objective parameters that shape local motion behavior, while the critic evaluates long-term task performance. We further relax the convexified constraints with bounded and penalized slack variables to form an elastic quadratic program, accommodating cases where the local constraint approximations cannot be satisfied simultaneously. Simulation tests and experiments, involving dynamic collision avoidance for multi-robot in narrow cases, illustrate the advantages of the proposed framework in adaptively adjusting the learned policy and improving navigation efficiency over existing approaches while maintaining the motion safety.
Abstract:Achieving safe navigation in confined dynamic environments remains a challenging problem, as robots must balance navigation efficiency with safety. Existing actor--critic MPC architectures typically employ differentiable MPC layers, but this way cannot readily accommodate explicit state constraints, making it intractable to involve collision avoidance within learning-based planning. To address this issue, we propose an actor--critic model predictive control framework with state constraints. We first use vertices to represent the robot and obstacles, and half-spaces to represent the workspace. Based on these, the nonlinear robot dynamics is locally linearized and the hyperplane-based collision avoidance constraints are convexified into the differentiable MPC layer, and then the actor exploits closed-loop feedback to adjust the MPC objective parameters that shape local motion behavior, while the critic evaluates long-term task performance. We further relax the convexified constraints with bounded and penalized slack variables to form an elastic quadratic program, accommodating cases where the local constraint approximations cannot be satisfied simultaneously. Simulation tests and experiments, involving dynamic collision avoidance for multi-robot in narrow cases, illustrate the advantages of the proposed framework in adaptively adjusting the learned policy and improving navigation efficiency over existing approaches while maintaining the motion safety.
Robotics (cs.RO)
arXiv:2610.41477 [cs.RO]
(or arXiv:2610.41477v1 [cs.RO] for this version)
https://doi.org/10.48550/arXiv.2610.41477 Focus to learn more arXiv-issued DOI via DataCite (pending registration)
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Full text under the publisher's open licence · 286 words