{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/information-theoretic-model-predictive","title":"Information Theoretic Model Predictive Control: Theory and Applications to Autonomous Driving","arxiv_id":"1707.02342","date":"2017-07-07","proceeding":null,"authors":["Grady Williams","Paul Drews","Brian Goldfain","James M. Rehg","Evangelos A. Theodorou"],"abstract":"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.","url_abs":"https://arxiv.org/abs/1707.02342v1","url_pdf":"https://arxiv.org/pdf/1707.02342v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"links_only","authors_date_abstract":"arXiv metadata, CC0 1.0 (https://info.arxiv.org/help/license), from the Kaggle arXiv metadata snapshot of 2026-09-12"},"code_links":[{"paper_slug":"information-theoretic-model-predictive","repo_url":"https://github.com/alivaziri/optimal-inferential-control-of-cnns","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"pytorch","reach":{"status":"unanswered"}},{"paper_slug":"information-theoretic-model-predictive","repo_url":"https://github.com/awesomericky/autonomous-racecar-project","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"none","reach":{"status":"unanswered"}},{"paper_slug":"information-theoretic-model-predictive","repo_url":"https://github.com/kohonda/mppi_playground","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"jax","reach":{"status":"unanswered"}},{"paper_slug":"information-theoretic-model-predictive","repo_url":"https://github.com/nhatch/nhatch.github.io","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"none","reach":{"status":"ok"}},{"paper_slug":"information-theoretic-model-predictive","repo_url":"https://github.com/vincekurtz/hydrax","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"jax","reach":{"status":"ok","spdx":"MIT"}}],"tasks":[],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=1707.02342","mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}