Dream-MPC refines policy-generated trajectories by gradient ascent in a latent world model with uncertainty regularization and temporal amortization, improving base policy performance and beating gradient-free MPC on 24 continuous control tasks.
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Dream-MPC: Gradient-Based Model Predictive Control with Latent Imagination
Dream-MPC refines policy-generated trajectories by gradient ascent in a latent world model with uncertainty regularization and temporal amortization, improving base policy performance and beating gradient-free MPC on 24 continuous control tasks.