Model-Based Reinforcement Learning via Latent-Space Collocation

Oleh Rybkin*, Chuning Zhu*, Anusha Nagabandi, Kostas Daniilidis, Igor Mordatch, Sergey Levine
International Conference on Machine Learning (ICML), 2021
website / paper / talk / code

Our planner, LatCo, solves multi-stage long-horizon tasks much harder than those considered previously. By optimizing a sequence of future latent states instead of optimizing actions directly, it quickly discovers the high-reward region to create effective plans.