Installation

pip install -r requirements.txt

See also do-mpc and L4CasADi for additional functionality and details.

Citation

Please use the following bib entry to cite our work:

@article{lawrence2025mpcritic,
  title={{MPCritic}: A plug-and-play {MPC} architecture for reinforcement learning},
  author={Lawrence, Nathan P and Banker, Thomas and Mesbah, Ali},
  journal={arXiv preprint arXiv:2504.01086},
  year={2025}
}