Author

S. Hirlaender

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Preprint Jul 2026

Safe Reinforcement Learning using Ideas from Model Predictive Control

A generalized framework that combines the adaptive, high-performance nature of deep reinforcement learning (DRL) with the formal safety guarantees of model predictive control (MPC) is proposed, demonstrating successful exploration and stable policy convergence on physical hardware.

George Schafer, Jakob Rehrl, Stefan Huber et al. · 0 citations