Accelerating Reinforcement Learning via MPC Solver-Gradient Guidance for Weights-varying MPC

• URL: http://arxiv.org/abs/2609.01061v1
• Date: Tue, 01 Sep 2026 10:55:18 GMT
• Title: Accelerating Reinforcement Learning via MPC Solver-Gradient Guidance for Weights-varying MPC
• Abstract summary: We propose a solver-sensitivity augmentation for RL-based online MPC cost-weight adaptation.<n>We instantiate SG-RL in Proximal Policy Optimization (PPO) with four modular algorithms that inject solver-gradient guidance into actor-update scaling, policy loss, advantage estimation, and value-function learning.<n>On two full-scale autonomous racing platforms with intentional model mismatch, SG-RL reaches PPO's best closed-loop return with up to 70.6% fewer samples, outperforms GB-PL baselines by at least 54% in closed-loop return, and generalizes zero-shot to unseen environments.
• Score: 17.152519147246842
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: In Model Predictive Control (MPC), cost-function weights shape closed-loop behavior, yet changing conditions often make fixed parametrizations suboptimal and motivate context-dependent online adaptation. Learning such policies is difficult because behavior depends implicitly on numerical MPC solutions, producing nonlinear, potentially nonsmooth, long-horizon dependencies on policy parameters. This creates a bias-variance tradeoff: Reinforcement Learning (RL) optimizes realized closed-loop return from environment samples but is sample-inefficient, whereas Gradient-Based Policy Learning (GB-PL) uses low-variance solver gradients from differentiable MPC to optimize surrogate losses on predicted trajectories but can be biased under model mismatch. We propose Solver-Gradient Guided Reinforcement Learning (SG-RL), a solver-sensitivity augmentation for RL-based online MPC cost-weight adaptation. SG-RL keeps sampled closed-loop return as the objective and uses bounded solver-derived gradients as auxiliary guidance to improve stability and sample efficiency. We instantiate SG-RL in Proximal Policy Optimization (PPO) with four modular algorithms that inject solver-gradient guidance into actor-update scaling, policy loss, advantage estimation, and value-function learning. On two full-scale autonomous racing platforms with intentional model mismatch, SG-RL reaches PPO's best closed-loop return with up to 70.6% fewer samples, outperforms GB-PL baselines by at least 54% in closed-loop return, and generalizes zero-shot to unseen environments.

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