# AC-SMPC: Differentiable Actor-Critic MPC with State Constraints for Safe and Fast Robot Navigation

- Source: arXiv cs.RO
- Published: 2026-11-02T05:00:00.000Z
- RoboHot: https://robohot.news/en/items/f2uh7ll8pzwj5v5y3mgaq2vo0
- Original: https://arxiv.org/abs/2610.41477

## Summary

The authors propose AC-SMPC, an actor-critic model predictive control framework with state constraints for safe navigation in constrained dynamic environments. The method represents the robot and obstacles as vertices and the workspace as half-spaces, locally linearizes the nonlinear dynamics, and convexifies hyperplane-based collision avoidance constraints into a differentiable MPC layer; the actor adjusts MPC objective parameters via closed-loop feedback, while the critic evaluates long-term task performance.