I'd be interested, if any one had suggestions, on MPC applied to ML/AI systems -- it seems this is an underserved technique/concern in MLEng, and I'd expect to see more on it.

Author of the post here - happy to answer any questions.

I've taken the linked Russ Tedrake class and have to say I loved this. Please make more!

Here's a (hacky) demo of MPC using MuJoCo in the browser: https://klowrey.github.io/mujoco_wasm/

I hacked it using MPPI and it only works on the cartpole model so as to not have to dwell in Javascript too long; just click the 'MPPI Controller' button and you can perturb the model and see it recover.

I love this kind of stuff because it seems like a roughly equal blend of art, science, and engineering.