{"id":"https://openalex.org/W7160513772","doi":"https://doi.org/10.48550/arxiv.2605.04709","title":"ELVIS: Ensemble-Calibrated Latent Imagination for Long-Horizon Visual MPC","display_name":"ELVIS: Ensemble-Calibrated Latent Imagination for Long-Horizon Visual MPC","publication_year":2026,"publication_date":"2026-05-06","ids":{"openalex":"https://openalex.org/W7160513772","doi":"https://doi.org/10.48550/arxiv.2605.04709"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2605.04709","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.04709","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":false,"raw_source_name":null,"raw_type":"article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2605.04709","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5135593649","display_name":"Yurui Du","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Du, Yurui","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048813179","display_name":"Pinhao Song","orcid":"https://orcid.org/0000-0002-3950-0403"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Song, Pinhao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128916169","display_name":"Yutong Hu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hu, Yutong","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5135566063","display_name":"Renaud Detry","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Detry, Renaud","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"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":0.6031000018119812,"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":0.6031000018119812,"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/T10848","display_name":"Advanced Multi-Objective Optimization Algorithms","score":0.05339999869465828,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"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/T11206","display_name":"Model Reduction and Neural Networks","score":0.05310000106692314,"subfield":{"id":"https://openalex.org/subfields/3109","display_name":"Statistical and Nonlinear Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.46720001101493835},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.43290001153945923},{"id":"https://openalex.org/keywords/bootstrapping","display_name":"Bootstrapping (finance)","score":0.38960000872612},{"id":"https://openalex.org/keywords/suite","display_name":"Suite","score":0.388700008392334},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.38029998540878296},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.36820000410079956},{"id":"https://openalex.org/keywords/interpretability","display_name":"Interpretability","score":0.34360000491142273},{"id":"https://openalex.org/keywords/futures-contract","display_name":"Futures contract","score":0.326200008392334}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6269999742507935},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6040999889373779},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.46720001101493835},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.44369998574256897},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.43290001153945923},{"id":"https://openalex.org/C207609745","wikidata":"https://www.wikidata.org/wiki/Q4944086","display_name":"Bootstrapping (finance)","level":2,"score":0.38960000872612},{"id":"https://openalex.org/C79581498","wikidata":"https://www.wikidata.org/wiki/Q1367530","display_name":"Suite","level":2,"score":0.388700008392334},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.38029998540878296},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.36820000410079956},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3472000062465668},{"id":"https://openalex.org/C2781067378","wikidata":"https://www.wikidata.org/wiki/Q17027399","display_name":"Interpretability","level":2,"score":0.34360000491142273},{"id":"https://openalex.org/C106306483","wikidata":"https://www.wikidata.org/wiki/Q183984","display_name":"Futures contract","level":2,"score":0.326200008392334},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.3149000108242035},{"id":"https://openalex.org/C207673951","wikidata":"https://www.wikidata.org/wiki/Q1303150","display_name":"Compounding","level":2,"score":0.3124000132083893},{"id":"https://openalex.org/C46686674","wikidata":"https://www.wikidata.org/wiki/Q466303","display_name":"Boosting (machine learning)","level":2,"score":0.3075999915599823},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3010999858379364},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2994999885559082},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.29589998722076416},{"id":"https://openalex.org/C2778565505","wikidata":"https://www.wikidata.org/wiki/Q2207566","display_name":"Spec#","level":2,"score":0.2924000024795532},{"id":"https://openalex.org/C119898033","wikidata":"https://www.wikidata.org/wiki/Q3433888","display_name":"Ensemble forecasting","level":2,"score":0.267300009727478},{"id":"https://openalex.org/C97931131","wikidata":"https://www.wikidata.org/wiki/Q5282087","display_name":"Discriminative model","level":2,"score":0.2655999958515167},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.2549000084400177}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2605.04709","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.04709","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":"article"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2605.04709","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.04709","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":false,"raw_source_name":null,"raw_type":"article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.6605527997016907}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"A":[0],"central":[1],"challenge":[2],"of":[3,106],"visual":[4,35,165],"control":[5],"with":[6,17,75,99,155,172,185],"model-based":[7],"reinforcement":[8],"learning":[9],"(RL)":[10],"is":[11,134],"reliable":[12],"long-horizon":[13,53,158],"planning:":[14],"long":[15,85],"rollouts":[16,144],"learned":[18],"latent":[19,45,107],"dynamics":[20],"exhibit":[21],"branching":[22,91],"futures":[23],"and":[24,66,145,174,191],"multi-modal":[25],"action-value":[26],"distributions.":[27],"In":[28,93],"addition,":[29],"compounding":[30,127],"model":[31,46,64,70],"errors":[32],"amplified":[33],"by":[34],"occlusions":[36],"make":[37,52],"deep":[38,97],"imagination":[39,98],"brittle.":[40],"We":[41],"present":[42],"ELVIS,":[43],"a":[44,59,76,100,116,181],"predictive":[47,71],"controller":[48],"(MPC)":[49],"designed":[50],"to":[51,125,137,146,180],"planning":[54],"practical.":[55],"ELVIS":[56,95,167,177],"plans":[57],"in":[58],"Dreamer-style":[60],"recurrent":[61],"state":[62],"space":[63],"(RSSM)":[65],"replaces":[67],"standard":[68],"unimodal":[69],"path":[72],"integral":[73],"(MPPI)":[74],"Gaussian-mixture":[77],"MPPI":[78],"that":[79,114],"maintains":[80],"multiple":[81],"coherent":[82],"hypotheses":[83],"over":[84],"horizons,":[86],"avoiding":[87],"mode":[88],"averaging":[89],"under":[90],"rollouts.":[92],"parallel,":[94],"stabilizes":[96],"shared":[101],"uncertainty-aware":[102],"lambda-return:":[103],"an":[104,110,139],"ensemble":[105],"critics":[108],"defines":[109],"upper-confidence-bound":[111],"(UCB)":[112],"score":[113,147],"gates":[115],"time-varying":[117],"lambda,":[118],"adaptively":[119],"trading":[120],"off":[121],"bootstrapping":[122],"versus":[123],"look-ahead":[124],"limit":[126],"error":[128],"during":[129],"planning.":[130],"The":[131],"same":[132],"return":[133],"used":[135],"both":[136],"train":[138],"actor-critic":[140],"prior":[141],"from":[142],"imagined":[143],"candidate":[148],"trajectories":[149],"inside":[150],"GMM-MPPI,":[151],"aligning":[152],"RL":[153],"objectives":[154],"the":[156],"planner's":[157],"optimization.":[159],"On":[160],"fourteen":[161],"DeepMind":[162],"Control":[163],"Suite":[164],"tasks,":[166],"establishes":[168],"state-of-the-art":[169],"performance":[170],"compared":[171],"TD-MPC2":[173],"DreamerV3.":[175],"Finally,":[176],"transfers":[178],"zero-shot":[179],"real-world":[182],"sand-spraying":[183],"task":[184],"severe":[186],"occlusions,":[187],"improving":[188],"surface-quality":[189],"metrics":[190],"demonstrating":[192],"robustness":[193],"beyond":[194],"simulation.":[195]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2026-05-08T00:00:00"}
