@article{softmpcriticamortizedmodelpredictivevalu,
  title = {Soft MPCritic: Amortized Model Predictive Value Iteration},
  author = {Thomas Banker and Nathan P. Lawrence and Ali Mesbah},
  year = {2026},
  eprint = {2604.01477},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2604.01477},
}