mlsanityData to 14 Oct 2026

Information Theoretic Model Predictive Control: Theory and Applications to Autonomous Driving

arXiv 1707.02342 ↗First posted 7 Jul 2017cs.ROcited by 90

Not on the map. Why?

Abstract (arXiv)

We present an information theoretic approach to stochastic optimal control problems that can be used to derive general sampling based optimization schemes. This new mathematical method is used to develop a sampling based model predictive control algorithm. We apply this information theoretic model predictive control (IT-MPC) scheme to the task of aggressive autonomous driving around a dirt test track, and compare its performance to a model predictive control version of the cross-entropy method.

Key facts. Cited by 90 papers in the map (data through 14 Oct 2026). First posted on arXiv 7 Jul 2017.

Builds on

No reference list yet.

Built on by

Cited by year (2026 to 14 Oct)

Citing papers per year: 2021: 7; 2022: 11; 2023: 14; 2024: 18; 2025: 17; 2026: 23.

90 papers.

Sort:

By area:

  1. 2023Reasoning with Language Model is Planning with World Modelcited by 861
  2. 2022Autonomous Vehicles on the Edge: A Survey on Autonomous Vehicle Racingcited by 64
  3. 2024Model-Based Diffusion for Trajectory Optimizationcited by 32
  4. 2024RoadRunner -- Learning Traversability Estimation for Autonomous Off-road Drivingcited by 26
  5. 2021Learning Modular Robot Control Policiescited by 22
  6. 2022ScaTE: A Scalable Framework for Self-Supervised Traversability Estimation in Unstructured Environmentscited by 21
  7. 2021Policy Search for Model Predictive Control with Application to Agile Drone Flightcited by 20
  8. 2025DDAT: Diffusion Policies Enforcing Dynamically Admissible Robot Trajectoriescited by 14
  9. 2026World-Value-Action Model: Implicit Planning for Vision-Language-Action Systemscited by 14
  10. 2022Variational Inference MPC using Normalizing Flows and Out-of-Distribution Projectioncited by 13
  11. 2025A Physics-Informed Machine Learning Framework for Safe and Optimal Control of Autonomous Systemscited by 12
  12. 2021Variational Inference MPC using Tsallis Divergencecited by 11
38 more
  1. 2024NeuPAN: Direct Point Robot Navigation with End-to-End Model-based Learningcited by 11
  2. 2021Dual Online Stein Variational Inference for Control and Dynamicscited by 10
  3. 2022Inferring Smooth Control: Monte Carlo Posterior Policy Iteration with Gaussian Processescited by 10
  4. 2023Efficient Dynamics Modeling in Interactive Environments with Koopman Theorycited by 10
  5. 2024RACER: Epistemic Risk-Sensitive RL Enables Fast Driving with Fewer Crashescited by 10
  6. 2023Learning Terrain-Aware Kinodynamic Model for Autonomous Off-Road Rally Driving With Model Predictive Path Integral Controlcited by 8
  7. 2023Constrained Stein Variational Trajectory Optimizationcited by 8
  8. 2022Gradient-Based Trajectory Optimization With Learned Dynamicscited by 7
  9. 2023Bridging Active Exploration and Uncertainty-Aware Deployment Using Probabilistic Ensemble Neural Network Dynamicscited by 7
  10. 2023Autonomous Drifting with 3 Minutes of Data via Learned Tire Modelscited by 7
  11. 2024Bisimulation metric for Model Predictive Controlcited by 6
  12. 2023Safe Navigation in Unstructured Environments by Minimizing Uncertainty in Control and Perceptioncited by 5
  13. 2023Pay Attention to How You Drive: Safe and Adaptive Model-Based Reinforcement Learning for Off-Road Drivingcited by 5
  14. 2024RoadRunner M&M -- Learning Multi-range Multi-resolution Traversability Maps for Autonomous Off-road Navigationcited by 5
  15. 2023Data-efficient Deep Reinforcement Learning for Vehicle Trajectory Controlcited by 4
  16. 2023Information-seeking polynomial NARX model-predictive control through expected free energy minimizationcited by 4
  17. 2025Computationally and Sample Efficient Safe Reinforcement Learning Using Adaptive Conformal Predictioncited by 4
  18. 2021Acting upon Imagination: when to trust imagined trajectories in model based reinforcement learningcited by 3
  19. 2022Bayesian Optimisation for Robust Model Predictive Control under Model Parameter Uncertaintycited by 3
  20. 2023Path Signatures for Diversity in Probabilistic Trajectory Optimisationcited by 3
  21. 2023HIO-SDF: Hierarchical Incremental Online Signed Distance Fieldscited by 3
  22. 2024LiRA: Light-Robust Adversary for Model-based Reinforcement Learning in Real Worldcited by 3
  23. 2024Learning Dynamic Cognitive Map with Autonomous Navigationcited by 3
  24. 2025Unifying Model Predictive Path Integral Control, Reinforcement Learning, and Diffusion Models for Optimal Control and Planningcited by 3
  25. 2023K-Nearest-Neighbor Resampling for Off-Policy Evaluation in Stochastic Controlcited by 2
  26. 2024Sampling for Model Predictive Trajectory Planning in Autonomous Driving using Normalizing Flowscited by 2
  27. 2024Words to Wheels: Vision-Based Autonomous Driving Understanding Human Language Instructions Using Foundation Modelscited by 2
  28. 2024Interpretable and Efficient Data-driven Discovery and Control of Distributed Systemscited by 2
  29. 2024Dynamics Modeling using Visual Terrain Features for High-Speed Autonomous Off-Road Drivingcited by 2
  30. 2025LVLM-MPC Collaboration for Autonomous Driving: A Safety-Aware and Task-Scalable Control Architecturecited by 2
  31. 2022Bayesian Learning Approach to Model Predictive Controlcited by 1
  32. 2022Adaptive Model Predictive Control by Learning Classifierscited by 1
  33. 2022Sparse Representation Learning with Modified q-VAE towards Minimal Realization of World Modelcited by 1
  34. 2024Continuously Optimizing Radar Placement with Model Predictive Path Integralscited by 1
  35. 2024Interacting Particle Systems for Fast Linear Quadratic RLcited by 1
  36. 2024Learning Autonomous Race Driving with Action Mapping Reinforcement Learningcited by 1
  37. 2024BiC-MPPI: Goal-Pursuing, Sampling-Based Bidirectional Rollout Clustering Path Integral for Trajectory Optimizationcited by 1
  38. 2025Enhanced Importance Sampling through Latent Space Exploration in Normalizing Flowscited by 1

50 most cited of 90 All 90 (JSON)