A new marginalized reparameterization estimator allows low-variance training of mixture policies in entropy-regularized actor-critic algorithms, matching or exceeding Gaussian policy performance in several continuous control benchmarks.
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PRISM-WM uses a context-aware MoE with latent orthogonalization to model hybrid dynamics and reduce rollout drift for model-based planning.
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Prismatic World Model: Learning Compositional Dynamics for Planning in Hybrid Systems
PRISM-WM uses a context-aware MoE with latent orthogonalization to model hybrid dynamics and reduce rollout drift for model-based planning.