Beyond Policy Alignment: Closing the Planning-Learning Loop for Robot Control with Learned World Models
cs.RO
Submitted: 2026-09-30
Updated: 2026-09-30
Project page: https://pl-mpc-humanoid.github.io
Terminology
Sources
- DeepMind Control Suite
- Advantage-Weighted Regression: Simple and Scalable Off-Policy Reinforcement Learning
- AWAC: Accelerating Online Reinforcement Learning with Offline Datasets
- TDMPBC: Self-Imitative Reinforcement Learning for Humanoid Robot Control
- Failure Forecasting Boosts Robustness of Sim2Real Rhythmic Insertion Policies
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