{"id":"https://openalex.org/W7133975752","doi":"https://doi.org/10.48550/arxiv.2603.04289","title":"IPD: Boosting Sequential Policy with Imaginary Planning Distillation in Offline Reinforcement Learning","display_name":"IPD: Boosting Sequential Policy with Imaginary Planning Distillation in Offline Reinforcement Learning","publication_year":2026,"publication_date":"2026-03-04","ids":{"openalex":"https://openalex.org/W7133975752","doi":"https://doi.org/10.48550/arxiv.2603.04289"},"language":null,"primary_location":{"id":"pmh:doi:10.48550/arxiv.2603.04289","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"publisher-specific-oa","license_id":"https://openalex.org/licenses/publisher-specific-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},"type":"article","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":null,"any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5128164475","display_name":"Yihao Qin","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Qin, Yihao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008565530","display_name":"Yuanfei Wang","orcid":"https://orcid.org/0000-0003-4811-5221"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Yuanfei","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128189941","display_name":"Hang Zhou","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhou, Hang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128191819","display_name":"Peiran Liu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liu, Peiran","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128190901","display_name":"Hao Dong","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Dong, Hao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5096043414","display_name":"Yiding Ji","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ji, Yiding","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.27172182,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.7192999720573425,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.7192999720573425,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11689","display_name":"Adversarial Robustness in Machine Learning","score":0.06069999933242798,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12026","display_name":"Explainable Artificial Intelligence (XAI)","score":0.05849999934434891,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.7746000289916992},{"id":"https://openalex.org/keywords/boosting","display_name":"Boosting (machine learning)","score":0.6201000213623047},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.4814999997615814},{"id":"https://openalex.org/keywords/offline-learning","display_name":"Offline learning","score":0.4634999930858612},{"id":"https://openalex.org/keywords/distillation","display_name":"Distillation","score":0.40639999508857727},{"id":"https://openalex.org/keywords/online-and-offline","display_name":"Online and offline","score":0.38580000400543213},{"id":"https://openalex.org/keywords/supervised-learning","display_name":"Supervised learning","score":0.3833000063896179},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.37279999256134033}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7746000289916992},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6963000297546387},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.6291000247001648},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6277999877929688},{"id":"https://openalex.org/C46686674","wikidata":"https://www.wikidata.org/wiki/Q466303","display_name":"Boosting (machine learning)","level":2,"score":0.6201000213623047},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.4814999997615814},{"id":"https://openalex.org/C2780490138","wikidata":"https://www.wikidata.org/wiki/Q7079636","display_name":"Offline learning","level":3,"score":0.4634999930858612},{"id":"https://openalex.org/C204030448","wikidata":"https://www.wikidata.org/wiki/Q101017","display_name":"Distillation","level":2,"score":0.40639999508857727},{"id":"https://openalex.org/C2780102126","wikidata":"https://www.wikidata.org/wiki/Q10928179","display_name":"Online and offline","level":2,"score":0.38580000400543213},{"id":"https://openalex.org/C136389625","wikidata":"https://www.wikidata.org/wiki/Q334384","display_name":"Supervised learning","level":3,"score":0.3833000063896179},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.37279999256134033},{"id":"https://openalex.org/C66322947","wikidata":"https://www.wikidata.org/wiki/Q11658","display_name":"Transformer","level":3,"score":0.3418999910354614},{"id":"https://openalex.org/C14646407","wikidata":"https://www.wikidata.org/wiki/Q1430750","display_name":"Bellman equation","level":2,"score":0.34119999408721924},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.34060001373291016},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.33239999413490295},{"id":"https://openalex.org/C114073186","wikidata":"https://www.wikidata.org/wiki/Q2631895","display_name":"Automated planning and scheduling","level":2,"score":0.3222000002861023},{"id":"https://openalex.org/C120936955","wikidata":"https://www.wikidata.org/wiki/Q2155640","display_name":"Empirical research","level":2,"score":0.26179999113082886},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2614000141620636},{"id":"https://openalex.org/C2779530757","wikidata":"https://www.wikidata.org/wiki/Q1207505","display_name":"Quality (philosophy)","level":2,"score":0.25369998812675476}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:doi:10.48550/arxiv.2603.04289","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"publisher-specific-oa","license_id":"https://openalex.org/licenses/publisher-specific-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},{"id":"doi:10.48550/arxiv.2603.04289","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.04289","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:doi:10.48550/arxiv.2603.04289","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"publisher-specific-oa","license_id":"https://openalex.org/licenses/publisher-specific-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.7640263438224792}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Decision":[0],"transformer":[1],"based":[2],"sequential":[3,120],"policies":[4],"have":[5],"emerged":[6],"as":[7],"a":[8,60,80,88,131],"powerful":[9],"paradigm":[10],"in":[11],"offline":[12,66,94,179],"reinforcement":[13],"learning":[14],"(RL),":[15],"yet":[16],"their":[17],"efficacy":[18],"remains":[19],"constrained":[20],"by":[21,130],"the":[22,93,136,139,144,149,166],"quality":[23],"of":[24,138],"static":[25],"datasets":[26],"and":[27,41,73,87,104,159,177],"inherent":[28],"architectural":[29],"limitations.":[30],"Specifically,":[31],"these":[32],"models":[33],"often":[34],"struggle":[35],"to":[36,43,100],"effectively":[37],"integrate":[38],"suboptimal":[39,102],"experiences":[40],"fail":[42],"explicitly":[44],"plan":[45],"for":[46],"an":[47],"optimal":[48,110,140],"policy.":[49,141],"To":[50],"bridge":[51],"this":[52,126],"gap,":[53],"we":[54],"propose":[55],"\\textbf{Imaginary":[56],"Planning":[57],"Distillation":[58],"(IPD)},":[59],"novel":[61],"framework":[62,77],"that":[63,134,170],"seamlessly":[64],"incorporates":[65],"planning":[67],"into":[68],"data":[69],"generation,":[70],"supervised":[71],"training,":[72],"online":[74],"inference.":[75,162],"Our":[76],"first":[78],"learns":[79],"world":[81],"model":[82],"equipped":[83],"with":[84,107,148],"uncertainty":[85],"measures":[86],"quasi-optimal":[89,151],"value":[90,152],"function":[91],"from":[92],"data.":[95],"These":[96],"components":[97],"are":[98],"utilized":[99],"identify":[101],"trajectories":[103],"augment":[105],"them":[106],"reliable,":[108],"imagined":[109],"rollouts":[111],"generated":[112],"via":[113],"Model":[114],"Predictive":[115],"Control":[116],"(MPC).":[117],"A":[118],"Transformer-based":[119],"policy":[121],"is":[122],"then":[123],"trained":[124],"on":[125,165],"enriched":[127],"dataset,":[128],"complemented":[129],"value-guided":[132],"objective":[133],"promotes":[135],"distillation":[137],"By":[142],"replacing":[143],"conventional,":[145],"manually-tuned":[146],"return-to-go":[147],"learned":[150],"function,":[153],"IPD":[154,171],"improves":[155],"both":[156],"decision-making":[157],"stability":[158],"performance":[160],"during":[161],"Empirical":[163],"evaluations":[164],"D4RL":[167],"benchmark":[168],"demonstrate":[169],"significantly":[172],"outperforms":[173],"several":[174],"state-of-the-art":[175],"value-based":[176],"transformer-based":[178],"RL":[180],"methods":[181],"across":[182],"diverse":[183],"tasks.":[184]},"counts_by_year":[],"updated_date":"2026-07-15T18:14:33.161393","created_date":"2026-03-06T00:00:00"}
