Pith Number

pith:IYYGEQYI

pith:2026:IYYGEQYIKJZ547255DSSWREN7Z

not attested not anchored not stored refs pending

Dream-MPC: Gradient-Based Model Predictive Control with Latent Imagination

Jonathan Spieler, Sven Behnke

Dream-MPC refines a few policy-rollout trajectories via gradient ascent inside a learned world model to raise overall task performance.

arxiv:2605.04568 v2 · 2026-05-06 · cs.LG · cs.AI · cs.RO

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\pithnumber{IYYGEQYIKJZ547255DSSWREN7Z}

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Record completeness

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2 Internet Archive

3 Author claim open · sign in to claim

4 Citations open

5 Replications open

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The bundle contains the canonical record plus signed events. A mirror can host it anywhere and recompute the same current state with the deterministic merge algorithm.

Claims

C1strongest claim

Our results on 24 continuous control tasks show that Dream-MPC can significantly improve the performance of the underlying policy and can outperform gradient-free MPC and state-of-the-art baselines.

C2weakest assumption

The learned world model is sufficiently accurate and differentiable that gradient ascent on rolled-out trajectories reliably improves performance without being misled by model errors or local optima.

C3one line summary

Dream-MPC boosts underlying policies on 24 continuous control tasks by optimizing policy-generated trajectories with gradient ascent, uncertainty regularization, and temporal amortization inside a latent world model.

Receipt and verification

First computed	2026-05-25T02:01:21.619872Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

46306243085273de7f5de8e52b448dfe7dcaee771d01773e0800d44bd945530b

Aliases

arxiv: 2605.04568 · arxiv_version: 2605.04568v2 · doi: 10.48550/arxiv.2605.04568 · pith_short_12: IYYGEQYIKJZ5 · pith_short_16: IYYGEQYIKJZ54725 · pith_short_8: IYYGEQYI

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Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/IYYGEQYIKJZ547255DSSWREN7Z \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: 46306243085273de7f5de8e52b448dfe7dcaee771d01773e0800d44bd945530b

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "b601aed29fbd7d25fadca9352d056cdb7c42af1fe561f93e9ca9cf19c2980a09",
    "cross_cats_sorted": [
      "cs.AI",
      "cs.RO"
    ],
    "license": "http://creativecommons.org/licenses/by-sa/4.0/",
    "primary_cat": "cs.LG",
    "submitted_at": "2026-05-06T07:13:11Z",
    "title_canon_sha256": "10edec659906056595f8435feb3dabf1501bab40dc053cbdf663f40b8cd86fbc"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2605.04568",
    "kind": "arxiv",
    "version": 2
  }
}