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We propose Diffusion Model Predictive Control (D-MPC), a novel MPC approach that learns a multi-step action proposal and a multi-step dynamics model, both using diffusion models, and combines them for use in online MPC.
Combating the Compounding-Error problem with a multi-step model
Kavosh Asadi, Dipendra Misra, Seungchan Kim, and Michel L Littman · 1905
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Mastering atari, go, chess and shogi by planning with a learned model
Julian Schrittwieser, Ioannis Antonoglou, Thomas Hubert, Karen Simonyan, Laurent Sifre, Simon Schmitt, Arthur Guez, Edward Lockhart, Demis Hassabis, Thore Graepel, Timothy Lillicrap, and David Silver · 1911
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Dream to control: Learning behaviors by latent imagination
Danijar Hafner, Timothy Lillicrap, Jimmy Ba, and Mohammad Norouzi · 1912
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Learning to combat Compounding-Error in Model-Based reinforcement learning
Chenjun Xiao, Yifan Wu, Chen Ma, Dale Schuurmans, and Martin Müller · 1912
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Richard S Sutton · 1991
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Aviral Kumar, Aurick Zhou, George Tucker, and Sergey Levine · 2020
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Jiaming Song, Chenlin Meng, and Stefano Ermon · 2020
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Tianhe Yu, Garrett Thomas, Lantao Yu, Stefano Ermon, James Y Zou, Sergey Levine, Chelsea Finn, and Tengyu Ma · 2020
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Decision transformer: Reinforcement learning via sequence modeling
Lili Chen, Kevin Lu, Aravind Rajeswaran, Kimin Lee, Aditya Grover, Misha Laskin, Pieter Abbeel, Aravind Srinivas, and Igor Mordatch · 2021
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Michael Janner, Qiyang Li, and Sergey Levine · 2021
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Ilya Kostrikov, Ashvin Nair, and Sergey Levine · 2021
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Alexander Quinn Nichol and Prafulla Dhariwal · 2021
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Max Schwenzer, Muzaffer Ay, Thomas Bergs, and Dirk Abel · 2021
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Imitating human behaviour with diffusion models
Tim Pearce, Tabish Rashid, Anssi Kanervisto, Dave Bignell, Mingfei Sun, Raluca Georgescu, Sergio Valcarcel Macua, Shan Zheng Tan, Ida Momennejad, Katja Hofmann, and Sam Devlin · 2023
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A generalist dynamics model for control
Ingmar Schubert, Jingwei Zhang, Jake Bruce, Sarah Bechtle, Emilio Parisotto, Martin Riedmiller, Jost Tobias Springenberg, Arunkumar Byravan, Leonard Hasenclever, and Nicolas Heess · 2023
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Improved techniques for training consistency models
Yang Song and Prafulla Dhariwal · 2023
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