MPC-RL

Accelerating and Scaling MPC-Guided Reinforcement Learning for Humanoid Locomotion and Manipulation

arXiv:2606.05687v1 Announce Type: new Abstract: In humanoid motion control, model predictive control (MPC) offers physically grounded prediction and constraint handling, while reinforcement learning (RL) enables robust whole-body skills through large-scale simulation. However, using MPC inside RL often requires time-consuming problem construction or excessive training overhead, making such frameworks difficult to justify in practice.