Reviews: Differentiable MPC for End-to-end Planning and Control

The paper presents an approach, from an optimization perspective, to integrate both the controller and the model. I am glad to see that this work has abundant citations from both classical control theory community and reinforcement learning community. And the idea of formulating the problem is nice, however I have concerns about clarity and significance. First, the formulation of the problem does not take into account any randomness (those from environment) and does not even mention Markov decision process. In the equation 2, there is no expectation operator available.