METHOD AND DEVICE FOR SOCIALLY AWARE MODEL PREDICTIVE CONTROL OF A ROBOTIC DEVICE USING MACHINE LEARNING

The invention relates to a computer-implemented method for determining a control trajectory for a robotic device (1), comprising the steps of: - performing (S1-S8) an information theoretic model predictive control applying a control trajectory sample prior (u*) in each time step to obtain a control trajectory for a given time horizon (tf); - determining (S21) the control trajectory sample prior (u*) depending on a data-driven trajectory prediction model which is trained to output a control trajectory sample as the control trajectory sample prior (u*) based on an actual state of the robotic device (1).