生成的軌道計画によるモデルベースオンライン意思決定
Model-Based Online Decision Making via Generative Trajectory Planning
拡散モデルを行動系列の提案分布として学習し、学習済みの力学・報酬・価値モデルで洗練することで、効率的な推論と長期的推論を両立させるモデルベース計画フレームワークGTPを提案。
詳しい要約
1. どんなもの？
2. 先行研究と比べてどこがすごい？
3. 技術・手法の肝は？
4. どうやって有効だと検証した？
5. 議論はある？
6. 次に読むべき論文は？
※ AIが要旨から生成した要約です。正確性は原文をご確認ください。
著者: Haldun Balim, Yilun Du, Na Li
分類: cs.LG, cs.AI, cs.RO, eess.SY
原文アブストラクト
Online decision-making faces a tension between efficient inference and long-horizon reasoning. Value-based methods rely on short-horizon bootstrapping that limits the propagation of long-term information, while trajectory optimization methods plan explicitly but must solve a high-dimensional optimization problem at every decision step. We propose Generative Trajectory Planning (GTP), a model-based framework that addresses this tension by learning a generative model as a proposal distribution over action sequences. Instead of optimizing sequences from scratch, GTP samples candidate sequences from a diffusion prior and refines them using learned dynamics, reward, and value models, enabling efficient trajectory-level reasoning. Across continuous control and long-horizon manipulation tasks, GTP matches or exceeds state-of-the-art model-free, diffusion-policy, and model-based baselines, and remains stable in regimes where strong baselines degrade. Our results suggest that generative models are best understood not as policies, but as structured proposal distributions for planning, offering a new perspective on how to integrate generative modeling with model-based decision-making.
