Bayesian Optimization for Automatic Tuning of Torque-Level Nonlinear Model Predictive Control

• URL: http://arxiv.org/abs/2512.03772v1
• Date: Wed, 03 Dec 2025 13:19:42 GMT
• Title: Bayesian Optimization for Automatic Tuning of Torque-Level Nonlinear Model Predictive Control
• Authors: Gabriele Fadini, Deepak Ingole, Tong Duy Son, Alisa Rupenyan,
• Abstract summary: This paper presents an auto-tuning framework for torque-based Model Predictive Control (nMPC)<n>The MPC serves as a real-time controller for optimal joint torque commands.
• Score: 2.907225673486874
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: This paper presents an auto-tuning framework for torque-based Nonlinear Model Predictive Control (nMPC), where the MPC serves as a real-time controller for optimal joint torque commands. The MPC parameters, including cost function weights and low-level controller gains, are optimized using high-dimensional Bayesian Optimization (BO) techniques, specifically Sparse Axis-Aligned Subspace (SAASBO) with a digital twin (DT) to achieve precise end-effector trajectory real-time tracking on an UR10e robot arm. The simulation model allows efficient exploration of the high-dimensional parameter space, and it ensures safe transfer to hardware. Our simulation results demonstrate significant improvements in tracking performance (+41.9%) and reduction in solve times (-2.5%) compared to manually-tuned parameters. Moreover, experimental validation on the real robot follows the trend (with a +25.8% improvement), emphasizing the importance of digital twin-enabled automated parameter optimization for robotic operations.

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