World models for continuous control
Nicklas Hansen
Coauthor of TD-MPC2, a latent world-model approach to continuous control.
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Simulation Priors for Rapid Adaptation in Model-Based RL for Autonomous Racing
PIA (Prior-Informed Adaptation) is an offline-to-online model-based RL framework for autonomous racing that pretrains a world model on heterogeneous low- and high-fidelity simulation trajectories, then adapts with limited real-world interac…
TD-MPC2: Scalable, Robust World Models for Continuous Control
TD-MPC2 improves TD-MPC, which does local trajectory optimization in the latent space of a decoder-free (implicit) world model; one set of hyperparameters works across 104 online RL tasks, and a single 317M-parameter agent performs 80 tasks…