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TD-MPC Explained, With Alexander Soare (Part 1 of 2)
Автор: HuggingFace
Загружено: 2024-10-23
Просмотров: 1998
Описание:
In this video I explain the problem formulation of TD-MPC and how TD-MPC works at rollout.
TD-MPC paper: https://arxiv.org/abs/2203.04955
Many thanks to Nicklas Hansen et. al. for publishing their research and open sourcing their code.
Chapters:
0:00 - Intro
0:54 - Notation and problem formulation
6:20 - High level summary of MPC
11:15 - Why are we optimizing for a fixed horizon?
16:03 - Generalizing to a formulation for CEM
17:38 - CEM with a physics thought experiment
23:32 - CEM applied to action trajectories
25:30 - Summary
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