Coordinating Planning and Tracking in Layered Control Policies via Actor-Critic Learning
<|reference_start|>Coordinating Planning and Tracking in Layered Control Policies via Actor-Critic Learning: We propose a reinforcement learning (RL)-based algorithm to jointly train (1) a trajectory planner and (2) a tracking controller in a layered control architecture. Our algorithm arises naturally from a rewrite of the underlying optimal control problem that lends itself to an actor-critic learning approach. By explicitly learning a \textit{dual} network to coordinate the interaction between the planning and tracking layers, we demonstrate the ability to achieve an effective consensus between the two components, leading to an interpretable policy. We theoretically prove that our algorithm converges to the optimal dual network in the Linear Quadratic Regulator (LQR) setting and empirically validate its applicability to nonlinear systems through simulation experiments on a unicycle model.<|reference_end|>
@article{yang2024coordinating,
    title={Coordinating Planning and Tracking in Layered Control Policies via
  Actor-Critic Learning},
    author={Fengjun Yang and Nikolai Matni},
    journal={arXiv preprint arXiv:2408.01639},
    year={2024},
    archivePrefix={arXiv},
    eprint={2408.01639},
    primaryClass={eess.SY cs.LG cs.SY}
}