I'd be interested, if any one had suggestions, on MPC applied to ML/AI systems -- it seems this is an underserved technique/concern in MLEng, and I'd expect to see more on it.
Another thing to keep in mind is that having AI/ML surrogates which can evaluate expensive functions faster can also be integrated as an information source in model predictive control algorithms.
there's a lot of work in the broad area. most of it doesn't engage with the classical control theory literature (arguably it should).
some keywords to search for recent hot research would be "world model", "decision transformer", "active inference", "control as inference", "model-based RL".
Great job! I'm working in a similar blog post and it was fun seeing how you approached it.
I was surprised the wasm implementation is fast enough, I was even considering writing webGpu compute shaders for my solver
I hacked it using MPPI and it only works on the cartpole model so as to not have to dwell in Javascript too long; just click the 'MPPI Controller' button and you can perturb the model and see it recover.
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