I am trying to use a neural network model in a real-time mpc framework that is running with acados. What is the recommended way of doing this. A bit of context:
Even when I am using a simple MLP that is wrapped with l4casadi and compiled with acados, the computation time of each MPC step becomes prohibitively expensive to run in real time.
To circumvent this I am trying to use the RealTimeL4Casadi class. However, I am unsure on how to get it to work with acados. Do you have a simple use case or example that can help me get started ?
Hello Tim,
I am trying to use a neural network model in a real-time mpc framework that is running with acados. What is the recommended way of doing this. A bit of context:
Even when I am using a simple MLP that is wrapped with l4casadi and compiled with acados, the computation time of each MPC step becomes prohibitively expensive to run in real time.
To circumvent this I am trying to use the RealTimeL4Casadi class. However, I am unsure on how to get it to work with acados. Do you have a simple use case or example that can help me get started ?
Best, Ioannis