arXiv:2610.41477v1 Announce Type: new Abstract: Achieving safe navigation in confined dynamic environments remains a challenging problem, as robots must balance navigation efficiency with safety. Existing actor--critic MPC architectures typically employ differentiable MPC layers, but this way cannot readily accommodate explicit state constraints, making it intractable to involve collision avoidance within learning-based planning. To address this issue, we propose an actor--critic model predictive control framework with state constraints. We first use vertices to represent the robot and obstacles, and half-spaces to represent the workspace. Based on these, the nonlinear robot dynamics is locally linearized and the hyperplane-based collision avoidance constraints are convexified into the differentiable MPC layer, and then the actor exploits closed-loop feedback to adjust the MPC objective parameters that shape local motion behavior, while the critic evaluates long-term task performance. We further relax the convexified constraints with bounded and penalized slack variables to form an elastic quadratic program, accommodating cases where the local constraint approximations cannot be satisfied simultaneously. Simulation tests and experiments, involving dynamic collision avoidance for multi-robot in narrow cases, illustrate the advantages of the proposed framework in adaptively adjusting the learned policy and improving navigation efficiency over existing approaches while maintaining the motion safety.