Before revision:  We employ an uncertainty-aware neural network ensemble model to learn the dynamics, and we infer the unknown constraint function through indicator constraint violation signals. We use model predictive control (MPC) as the basic control framework and propose the robust cross-entropy method (RCE) to optimize the control sequence considering the model uncertainty and constraints.
After revision:  We employ an uncertainty-aware neural network ensemble model to estimate the prediction uncertainty and use model predictive control (MPC) as the basic control framework and propose the robust cross-entropy method (RCE) to optimize the control sequence considering the model uncertainty and constraints.