用Transformer生成控制序列起点，让强化学习更快更省资源。

This paper presents a novel approach to improve the Model Predictive Path Integral (MPPI) control by using a transformer to initialize the mean control sequence. Traditional MPPI methods often struggle with sample efficiency and computational costs due to suboptimal initial rollouts. We propose TransformerMPPI, which uses a transformer trained on historical control data to generate informed initial mean control sequences. TransformerMPPI combines the strengths of the attention mechanism in transformers and sampling-based control, leading to improved computational performance and sample efficiency. The ability of the transformer to capture long-horizon patterns in optimal control sequences allows TransformerMPPI to start from a more informed control sequence, reducing the number of samples required, and accelerating convergence to optimal control sequence. We evaluate our method on various control tasks, including avoidance of collisions in a 2D environment and autonomous racing in the presence of static and dynamic obstacles. Numerical simulations demonstrate that TransformerMPPI consistently outperforms traditional MPPI algorithms in terms of overall average cost, sample efficiency, and computational speed in the presence of static and dynamic obstacles.