{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2021:W6TPHMF4N7VKDVNGVKRK5ECAQD","merge_version":"pith-open-graph-merge-v1","event_count":2,"valid_event_count":2,"invalid_event_count":0,"equivocation_count":0,"current":{"canonical_record":{"metadata":{"abstract_canon_sha256":"97a39cd6d7c7dc7d9b9d8cc37772237df5cebffa69c70f551cf3c5f24d0bb495","cross_cats_sorted":["cs.AI","cs.LG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-10-07T12:00:40Z","title_canon_sha256":"a32f6b5aad31a0fbf16940c48962605c9259c592d7c0223fafb1147b8bbc134c"},"schema_version":"1.0","source":{"id":"2110.03363","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2110.03363","created_at":"2026-07-05T03:20:41Z"},{"alias_kind":"arxiv_version","alias_value":"2110.03363v1","created_at":"2026-07-05T03:20:41Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2110.03363","created_at":"2026-07-05T03:20:41Z"},{"alias_kind":"pith_short_12","alias_value":"W6TPHMF4N7VK","created_at":"2026-07-05T03:20:41Z"},{"alias_kind":"pith_short_16","alias_value":"W6TPHMF4N7VKDVNG","created_at":"2026-07-05T03:20:41Z"},{"alias_kind":"pith_short_8","alias_value":"W6TPHMF4","created_at":"2026-07-05T03:20:41Z"}],"graph_snapshots":[{"event_id":"sha256:d1d17b7abcfa893606a6d380665b2bca410642384e6ca06f072380827bf3f38e","target":"graph","created_at":"2026-07-05T03:20:41Z","signer":{"key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signer_id":"pith.science","signer_type":"pith_registry"},"payload":{"graph_snapshot":{"author_claims":{"count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","strong_count":0},"builder_version":"pith-number-builder-2026-05-17-v1","claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"integrity":{"available":true,"clean":true,"detectors_run":[],"endpoint":"/pith/2110.03363/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"There is a widespread intuition that model-based control methods should be able to surpass the data efficiency of model-free approaches. In this paper we attempt to evaluate this intuition on various challenging locomotion tasks. We take a hybrid approach, combining model predictive control (MPC) with a learned model and model-free policy learning; the learned policy serves as a proposal for MPC. We find that well-tuned model-free agents are strong baselines even for high DoF control problems but MPC with learned proposals and models (trained on the fly or transferred from related tasks) can s","authors_text":"Abbas Abdolmaleki, Alessandro Davide Ialongo, Arunkumar Byravan, Josh Merel, Jost Tobias Springenberg, Leonard Hasenclever, Martin Riedmiller, Mehdi Mirza, Nicolas Heess, Piotr Trochim, Yuval Tassa","cross_cats":["cs.AI","cs.LG"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-10-07T12:00:40Z","title":"Evaluating model-based planning and planner amortization for continuous control"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2110.03363","kind":"arxiv","version":1},"verdict":{"created_at":null,"id":null,"model_set":{},"one_line_summary":"","pipeline_version":null,"pith_extraction_headline":"","strongest_claim":"","weakest_assumption":""}},"verdict_id":null}}],"author_attestations":[],"timestamp_anchors":[],"storage_attestations":[],"citation_signatures":[],"replication_records":[],"corrections":[],"mirror_hints":[],"record_created":{"event_id":"sha256:5b95570e8ca9126c8e877c0fd5accd62c52222f2432b554e1a88c9e4e414d3e8","target":"record","created_at":"2026-07-05T03:20:41Z","signer":{"key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signer_id":"pith.science","signer_type":"pith_registry"},"payload":{"attestation_state":"computed","canonical_record":{"metadata":{"abstract_canon_sha256":"97a39cd6d7c7dc7d9b9d8cc37772237df5cebffa69c70f551cf3c5f24d0bb495","cross_cats_sorted":["cs.AI","cs.LG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-10-07T12:00:40Z","title_canon_sha256":"a32f6b5aad31a0fbf16940c48962605c9259c592d7c0223fafb1147b8bbc134c"},"schema_version":"1.0","source":{"id":"2110.03363","kind":"arxiv","version":1}},"canonical_sha256":"b7a6f3b0bc6feaa1d5a6aaa2ae904080dfed287bef032302fcfe508325f13c8a","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"b7a6f3b0bc6feaa1d5a6aaa2ae904080dfed287bef032302fcfe508325f13c8a","first_computed_at":"2026-07-05T03:20:41.868890Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T03:20:41.868890Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"LiTiJwfuBdaAh1kPr6S1Z9aCC5rpjjw8KFgx0vxZbFhY85226yi+mw4LqKmrp8O5TYHRPv4TdEY1ovCg0PrGAw==","signature_status":"signed_v1","signed_at":"2026-07-05T03:20:41.869418Z","signed_message":"canonical_sha256_bytes"},"source_id":"2110.03363","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:5b95570e8ca9126c8e877c0fd5accd62c52222f2432b554e1a88c9e4e414d3e8","sha256:d1d17b7abcfa893606a6d380665b2bca410642384e6ca06f072380827bf3f38e"],"state_sha256":"63f11559029467166b55c6d7fca6fdbaebfa71614ea4f2ceca507e48915da2de"}