The paper introduces Bayesian Flow Networks for Offline Trajectory Planning (BFN-RL), a generative modeling framework that unifies discrete and continuous trajectory synthesis for offline reinforcement learning. Unlike prior diffusion models that rely on Gaussian noise, BFN-RL iteratively updates distribution parameters, enabling a categorical planner to produce future state sequences and an inverse-dynamics model to translate these states into actions. Experiments demonstrate that BFN-RL effectively generates trajectories in both discrete planning and continuous control tasks, highlighting its versatility across data modalities.
By Ludvig Killingberg, Helge Langseth
Recent advances in generative planning have made trajectory inpainting a promising approach to offline goal-conditioned reinforcement learning. However, these methods typically specify the planning ho...
HorizonFlow is a hierarchical planner for offline goal-conditioned reinforcement learning that treats the planning horizon as an output rather than a fixed input. It uses a subgoal route planner and an action-prefix controller, both employing insertion-based generation and flow matching, to jointly generate continuous plan content and its length. The method leverages the partially generated plan to guide token insertion and to steer generation toward shorter plans, achieving superior performance on Maze2D, Multi2D, and OGBench benchmarks.
By JunHyeok Oh, Zian Jang, Byung-Jun Lee
arXiv:2603. 02650v2 Announce Type: replace-cross Abstract: Diffusion planners are a strong approach for offline reinforcement learning, but they can fail when value-guided selection favours trajectories that score well yet are locally inconsistent with the environment dynamics, resulting in brittle execution.
By Yuan Lu, Dongqi Han, Yansen Wang, Dongsheng Li
arXiv:2605. 04568v3 Announce Type: replace-cross Abstract: State-of-the-art model-based Reinforcement Learning (RL) approaches either use gradient-free, population-based methods for planning, learned policy networks, or a combination of policy networks and planning.
By Jonathan Spieler, Sven Behnke
arXiv:2606. 19729v1 Announce Type: cross Abstract: Planning under uncertainty is an essential capability for autonomous robots.
By Marcus Hoerger, Rishikesh Joshi, Rahul Shome, Ian Manchester, Hanna Kurniawati
arXiv:2606. 19729v2 Announce Type: replace-cross Abstract: Planning under uncertainty is an essential capability for autonomous robots.
By Marcus Hoerger, Rishikesh Joshi, Rahul Shome, Ian Manchester, Hanna Kurniawati
arXiv:2606. 27766v1 Announce Type: cross Abstract: Offline reinforcement learning enables policy learning from fixed datasets without additional environment interaction, making it appealing for safety-critical applications where online exploration is costly or unsafe.
By Shiqiang Gong
arXiv:2608.24855v1 Announce Type: new
Abstract: Latent world models are inherently strong encoders that transform image pixel to latent embedding, yet existing world models still rely on online traje...
By Hsiang-Wei Huang, Jianxu Shangguan, Junbin Lu, Jenq-Neng Hwang
The paper introduces Anticipatory Generative Modeling, a new graph-constrained approach for generating road‑network trajectories that focuses on behavior modeling rather than simple location simulation. It presents Foresight, a probabilistic model that iteratively anticipates, selects, updates, and re‑anticipates future transitions to produce realistic routes that stay on the road network. Experiments show that Foresight outperforms existing state‑of‑the‑art generative methods.
By Zhenhao Huang, Li Sun, Philip S. Yu
arXiv:2607. 17973v1 Announce Type: new Abstract: Latent world models have emerged as a powerful planning paradigm by learning action-conditioned predictive dynamics and using them as internal simulators to imagine and evaluate candidate action sequences.
By Letian Cheng, Qi Zhang, Yisen Wang
GEM-MPC is a reinforcement learning method that blends MPPI planning with policy learning to balance exploration and exploitation in high-dimensional continuous control tasks. It trains a policy to clone the planner while also maintaining a KL-regularized policy that explores around the planner’s suggestions, thereby improving the synergy between planning and learning. The approach introduces Gated Prior Distillation, which selectively updates policies from stored planning distributions only when they offer better targets, reducing the influence of stale data without costly reanalysis. Across continuous-control benchmarks, GEM-MPC outperforms existing planning-based baselines while using lower computational budgets.
By Alvaro Serra-Gomez, Thomas Moerland