Model Predictive Control

For the first time, we introduce and formalize the problem of continuous-time control with costly observations, theoretically demonstrating that irregular observation policies outperform regular ones in certain environments. We empirically validate this finding using a novel initial method: applying a heuristic threshold to the variance of reward rollouts in an offline continuous-time model-based Model Predictive Control (MPC) planner across various continuous-time environments, including a cancer simulation. This work lays the foundation for future research on this critical problem.