Plan Online, Learn Offline: Efficient Learning and Exploration via Model-Based Control

5 November 2018

Aravind Rajeswaran

Papers citing "Plan Online, Learn Offline: Efficient Learning and Exploration via Model-Based Control"

50 / 52 papers shown

Title
Plan2Align: Predictive Planning Based Test-Time Preference Alignment in Paragraph-Level Machine Translation Kuang-Da Wang Teng-Ruei Chen Yu-Heng Hung Shuoyang Ding Yueh-Hua Wu Yu-Chun Wang Chao-Han Huck Yang Wen-Chih Peng Ping-Chun Hsieh 74 0 0 28 Feb 2025
Infinite-Horizon Value Function Approximation for Model Predictive Control Armand Jordana Sébastien Kleff Arthur Haffemayer Joaquim Ortiz de Haro Justin Carpentier Nicolas Mansard Ludovic Righetti 41 0 0 10 Feb 2025
BaB-ND: Long-Horizon Motion Planning with Branch-and-Bound and Neural Dynamics Keyi Shen Jiangwei Yu Huan Zhang Yunzhu Li Yunzhu Li 87 1 0 12 Dec 2024
World Models with Hints of Large Language Models for Goal Achieving Zeyuan Liu Ziyu Huan Xiyao Wang Jiafei Lyu Jian Tao Xiu Li Furong Huang Huazhe Xu LM&Ro LRM AI4CE 46 1 0 11 Jun 2024
AC4MPC: Actor-Critic Reinforcement Learning for Nonlinear Model Predictive Control Rudolf Reiter Andrea Ghezzi Katrin Baumgärtner Jasper Hoffmann Robert D. McAllister Moritz Diehl 34 6 0 06 Jun 2024
Model-based Reinforcement Learning for Parameterized Action Spaces Renhao Zhang Haotian Fu Yilin Miao George Konidaris 31 3 0 03 Apr 2024
On Task-Relevant Loss Functions in Meta-Reinforcement Learning and Online LQR Jaeuk Shin Giho Kim Howon Lee Joonho Han Insoon Yang OffRL 31 1 0 09 Dec 2023
Combining model-predictive control and predictive reinforcement learning for stable quadrupedal robot locomotion Vyacheslav Kovalev Anna Shkromada H. Ouerdane Pavel Osinenko 21 2 0 15 Jul 2023
Dexterity from Touch: Self-Supervised Pre-Training of Tactile Representations with Robotic Play Irmak Güzey Ben Evans Soumith Chintala Lerrel Pinto 70 65 0 21 Mar 2023
ALAN: Autonomously Exploring Robotic Agents in the Real World Russell Mendonca Shikhar Bahl Deepak Pathak LM&Ro 36 20 0 13 Feb 2023
Investigating the role of model-based learning in exploration and transfer Jacob Walker Eszter Vértes Yazhe Li Gabriel Dulac-Arnold Ankesh Anand T. Weber Jessica B. Hamrick OffRL 36 7 0 08 Feb 2023
A Simple Decentralized Cross-Entropy Method Zichen Zhang Jun Jin Martin Jägersand Jun Luo Dale Schuurmans 13 8 0 16 Dec 2022
Cross-Domain Transfer via Semantic Skill Imitation Karl Pertsch Ruta Desai Vikash Kumar Franziska Meier Joseph J. Lim Dhruv Batra Akshara Rai LM&Ro 16 18 0 14 Dec 2022
Learning Sampling Distributions for Model Predictive Control Jacob Sacks Byron Boots 11 21 0 05 Dec 2022
Optimization-Based Control for Dynamic Legged Robots Patrick M. Wensing Michael Posa Yue Hu Adrien Escande Nicolas Mansard Andrea Del Prete 27 139 0 21 Nov 2022
S2P: State-conditioned Image Synthesis for Data Augmentation in Offline Reinforcement Learning Daesol Cho D. Shim H. J. Kim OffRL 42 11 0 30 Sep 2022
Learning Dexterous Manipulation from Exemplar Object Trajectories and Pre-Grasps Sudeep Dasari Abhi Gupta Vikash Kumar 52 42 0 22 Sep 2022
Dexterous Imitation Made Easy: A Learning-Based Framework for Efficient Dexterous Manipulation Sridhar Pandian Arunachalam Sneha Silwal Ben Evans Lerrel Pinto 35 101 0 24 Mar 2022
Temporal Difference Learning for Model Predictive Control Nicklas Hansen Xiaolong Wang H. Su PINN MU 36 222 0 09 Mar 2022
Tutorial on amortized optimization Brandon Amos OffRL 75 43 0 01 Feb 2022
Generative Planning for Temporally Coordinated Exploration in Reinforcement Learning Haichao Zhang Wei-ping Xu Haonan Yu 38 10 0 24 Jan 2022
ValueNetQP: Learned one-step optimal control for legged locomotion Julian Viereck Avadesh Meduri Ludovic Righetti 14 8 0 11 Jan 2022
Model-Value Inconsistency as a Signal for Epistemic Uncertainty Angelos Filos Eszter Vértes Zita Marinho Gregory Farquhar Diana Borsa A. Friesen Feryal M. P. Behbahani Tom Schaul André Barreto Simon Osindero 44 7 0 08 Dec 2021
Modeling human intention inference in continuous 3D domains by inverse planning and body kinematics Yingdong Qian Marta Kryven Tao Gao Hanbyul Joo J. Tenenbaum 25 1 0 02 Dec 2021
UMBRELLA: Uncertainty-Aware Model-Based Offline Reinforcement Learning Leveraging Planning Christopher P. Diehl Timo Sievernich Martin Krüger F. Hoffmann Torsten Bertram OffRL 26 26 0 22 Nov 2021
Optimization of the Model Predictive Control Meta-Parameters Through Reinforcement Learning Eivind Bøhn S. Gros Signe Moe T. Johansen 14 19 0 07 Nov 2021
Value Function Spaces: Skill-Centric State Abstractions for Long-Horizon Reasoning Dhruv Shah Peng Xu Yao Lu Ted Xiao Alexander Toshev Sergey Levine Brian Ichter OffRL 32 41 0 04 Nov 2021
Dynamic Mirror Descent based Model Predictive Control for Accelerating Robot Learning Utkarsh Aashu Mishra Soumya R. Samineni Prakhar Goel Chandravaran Kunjeti Himanshu Lodha Aman Singh Aditya Sagi S. Bhatnagar Shishir Kolathaya 27 3 0 04 Nov 2021
Policy Search using Dynamic Mirror Descent MPC for Model Free Off Policy RL Aarush Gupta 25 0 0 23 Oct 2021
Evaluating model-based planning and planner amortization for continuous control Arunkumar Byravan Leonard Hasenclever Piotr Trochim M. Berk Mirza Alessandro Davide Ialongo ... Jost Tobias Springenberg A. Abdolmaleki N. Heess J. Merel Martin Riedmiller 55 17 0 07 Oct 2021
Is Curiosity All You Need? On the Utility of Emergent Behaviours from Curious Exploration Oliver Groth Markus Wulfmeier Giulia Vezzani Vibhavari Dasagi Tim Hertweck Roland Hafner N. Heess Martin Riedmiller LRM 41 20 0 17 Sep 2021
Mini Cheetah, the Falling Cat: A Case Study in Machine Learning and Trajectory Optimization for Robot Acrobatics Vince Kurtz He Li Patrick M. Wensing Hai Lin 57 29 0 09 Sep 2021
Multi-Objective Graph Heuristic Search for Terrestrial Robot Design Jie Xu Andrew Spielberg Allan Zhao Daniela Rus Wojciech Matusik 63 38 0 13 Jul 2021
LS3: Latent Space Safe Sets for Long-Horizon Visuomotor Control of Sparse Reward Iterative Tasks Albert Wilcox Ashwin Balakrishna Brijen Thananjeyan Joseph E. Gonzalez Ken Goldberg 29 11 0 10 Jul 2021
Behavioral Priors and Dynamics Models: Improving Performance and Domain Transfer in Offline RL Catherine Cang Aravind Rajeswaran Pieter Abbeel Michael Laskin OffRL 21 29 0 16 Jun 2021
MBRL-Lib: A Modular Library for Model-based Reinforcement Learning Luis Pineda Brandon Amos Amy Zhang Nathan Lambert Roberto Calandra OffRL 28 46 0 20 Apr 2021
Where to go next: Learning a Subgoal Recommendation Policy for Navigation Among Pedestrians B. Brito Michael Everett Jonathan P. How Javier Alonso-Mora 79 57 0 25 Feb 2021
Reinforcement Learning of the Prediction Horizon in Model Predictive Control Eivind Bøhn S. Gros Signe Moe T. Johansen 12 32 0 22 Feb 2021
COMBO: Conservative Offline Model-Based Policy Optimization Tianhe Yu Aviral Kumar Rafael Rafailov Aravind Rajeswaran Sergey Levine Chelsea Finn OffRL 219 413 0 16 Feb 2021
Safely Learning Dynamical Systems from Short Trajectories Amir Ali Ahmadi A. Chaudhry Vikas Sindhwani Stephen Tu 16 4 0 24 Nov 2020
Amodal 3D Reconstruction for Robotic Manipulation via Stability and Connectivity William Agnew Christopher Xie Aaron Walsman Octavian Murad Caelen Wang Pedro M. Domingos S. Srinivasa 18 18 0 28 Sep 2020
Learning Off-Policy with Online Planning Harshit S. Sikchi Wenxuan Zhou David Held OffRL 37 45 0 23 Aug 2020
Model-based Reinforcement Learning for Semi-Markov Decision Processes with Neural ODEs Jianzhun Du Joseph D. Futoma Finale Doshi-Velez 27 49 0 29 Jun 2020
Information Theoretic Regret Bounds for Online Nonlinear Control Sham Kakade A. Krishnamurthy Kendall Lowrey Motoya Ohnishi Wen Sun 31 117 0 22 Jun 2020
Efficient Model-Based Reinforcement Learning through Optimistic Policy Search and Planning Sebastian Curi Felix Berkenkamp Andreas Krause 30 82 0 15 Jun 2020
Model-Augmented Actor-Critic: Backpropagating through Paths I. Clavera Yao Fu Pieter Abbeel 38 86 0 16 May 2020
Planning to Explore via Self-Supervised World Models Ramanan Sekar Oleh Rybkin Kostas Daniilidis Pieter Abbeel Danijar Hafner Deepak Pathak SSL 27 397 0 12 May 2020
Lyceum: An efficient and scalable ecosystem for robot learning Colin Summers Kendall Lowrey Aravind Rajeswaran S. Srinivasa E. Todorov 24 18 0 21 Jan 2020
Combining Q-Learning and Search with Amortized Value Estimates Jessica B. Hamrick V. Bapst Alvaro Sanchez-Gonzalez Tobias Pfaff T. Weber Lars Buesing Peter W. Battaglia OffRL 27 47 0 05 Dec 2019
Combining Benefits from Trajectory Optimization and Deep Reinforcement Learning Guillaume Bellegarda Katie Byl OffRL 11 5 0 21 Oct 2019