Thanks for sharing [1], that was a great read. I'd be curious to see an updated version of that article, since it's about 6 years old now. For example, Boston Dynamics has transitioned from MPC to RL for controlling its Spot robots [2]. Davide Scaramuzza, whose team created autonomous FPV drones that beat expert human pilots, has also discussed how his team had to transition from MPC to RL [3].
[2]: https://bostondynamics.com/blog/starting-on-the-right-foot-w...
[3]: https://www.incontrolpodcast.com/1632769/13775734-ep15-david...