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Amortized Feedback Planning: Turning Model-Based Rollouts into Executable Policies

Huh, Jeonggyu
arXiv (All) · Papers
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optimization-and-controlsystems-and-control
Closed-loop planning accounts for future observation-dependent actions but can be expensive to repeat at deployment. Bellman-gradient (BG) refinement differentiates conditional rollouts through an existing actor, corrects the current action, and stores the result in an executable policy. A backward
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