In contrast to PlaNet (CEM) and Grad-MPC, which both use 1000×10×12 =120 000 evaluations of the world model at each time step, our method only requires 5×1×15 = 75 evaluations

We find that our method can not only outperform the baselines, but also that planning during training can improve the sample efficiency without leading to premature convergence · 2022