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Hybrid approaches that combine Model Predictive Control (MPC) with a learned model and a policy prior to leverage the advantages of both paradigms have shown promising results. However, these approaches typically rely on gradient-free optimization methods, which can be computationally expensive for high-dimensional control tasks. While gradient-based methods are a promising alternative, recent works have empirically shown that gradient-based methods often perform worse than their gradient-free counterparts. We propose Dream-MPC, a novel approach that generates few candidate trajectories from a rolled-out policy and optimizes each trajectory by gradient ascent using a learned world model, uncertainty regularization and amort","title":"Dream-MPC: Gradient-Based Model Predictive Control with Latent Imagination","url":"https://arxiv.org/abs/2605.04568","vendor":"arxiv_cs_ai"},"summary":"arXiv:2605.04568v2 Announce Type: replace-cross \nAbstract: 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. Hybrid approaches that combine Model Predictive Control (MPC) with a learned model and a policy prior to leverage the advantages of both paradigms have shown promising results. However, these approaches typically rely on gradient-free optimization methods, which can be computationally expensive for high-dimensional control tasks. While gradient-based methods are a promising alternative, recent works have empirically shown that gradient-based methods often perform worse than their gradient-free counterparts. We propose Dream-MPC, a novel approach that generates few candidate trajectories from a rolled-out policy and optimizes each trajectory by gradient ascent using a learned world model, uncertainty regularization and amort","title":"Dream-MPC: Gradient-Based Model Predictive Control with Latent Imagination","vendor":"arxiv_cs_ai"},"confidence":{"method":"deterministic"},"decision":"POSITIVE","issued_at":"2026-05-25T04:43:48Z","notes":"Spider vendor_press (news) news.vendor_press.v1","object":{"captured_by":"crovia.spider.vendor_press","primary_source_url":"https://arxiv.org/abs/2605.04568"},"predecessors":[],"schema":"crovia.axiom.v1","signature":"ed25519:2519862ca946d70b6ece7710fea264773a3fdc743fa9a81b385b0ebfcb8d4c8e46f033f4c9978e0356c0c75d1244c080889376bfb78577b013a3ef8f628ad401","signer":"crovia.substrate","subject":{"observed_at":"2026-05-25T04:43:48Z","source_collector":"spider:vendor_press","target_id":"https://arxiv.org/abs/2605.04568"},"tsa":{"authority":"crovia.substrate.bootstrap","rfc3161_token":"{\"kind\":\"crovia.bootstrap.tsa\",\"source_jsonl\":\"/opt/crovia/spider/data/news/vendor_press_v1.jsonl\",\"source_seal_merkle_root\":\"spider_vendor_press_v1\",\"upgrade_path\":\"Sessione H \\u2014 OpenTimestamps weekly anchor\"}"},"zk_mode":"clear","zk_proof":null},"ledger":{"leaf_hash":"82adf8d9678d923ca44111aa9512478cdd2af7a5c76d8f419e6f5e1641482d01","leaf_index":149753,"ledger_path":"/opt/crovia/substrate/axiom_ledger.jsonl"},"merkle_proof":{"hash_alg":"sha256","leaf_prefix":"0x00","node_prefix":"0x01","odd_leaf_rule":"duplicate_last","path":[{"sibling":"8c83538509ab935a1fa6fecc893f0f885852b82a8d2a56461e1a927dd621b1a7","side":"left"},{"sibling":"0d20e245357212974520b97c61224d24cdd61e0bc464ec46903d27193afbaca3","side":"right"},{"sibling":"fe650b2ea5ea28c90f617631aa73f2b51a3bde986ef5e46ca066a64042d461d1","side":"right"},{"sibling":"38b8ae88996a3848062d4ba221afdebd8e1f683f195a333f58540e761ca921fc","side":"left"},{"sibling":"2b3bb63503691b69feadf67374d3b1f5c8c9470823bc18f151aba03919ccd87d","side":"left"},{"sibling":"f4d732126f5433063a27ed518354e49a3c94e9c4c015a328c34b22b871d62002","side":"left"},{"sibling":"9a9dec70c246f07136fd93efad0647d42e469fcfca31c6741dcb1d715bd9ce45","side":"left"},{"sibling":"cb71a04113e54ec457f452a34b2778696e1747afe98ba9da255ce1f5fd8619d7","side":"left"},{"sibling":"e044acc52c31efe134c902c984299ea3452b42df993d096ed61ad8be9d530bbc","side":"right"},{"sibling":"6be461ecf12dedf98a31921aa7b5c32d4a32df6897e0f697b8bf1a4ba3e2d324","side":"right"},{"sibling":"c2861a8cef3eb66bf2726aa377c24a6bf6e8b7489dcd0e870b61d62a35ccadfb","side":"right"},{"sibling":"134949308b15cffd6792ee2cf678119af34d69a64764d7c89cd47573c94e1cda","side":"left"},{"sibling":"debbc1a6232ea7970009b91bdc2345041b2de5ac59551f955855d579001e512c","side":"right"},{"sibling":"216869846f40bd905626884f58cb67b9019e488b3656946a7808c436ab7339ac","side":"right"},{"sibling":"35ca36cee447f0ef7064a25d55f59357c66901e31427729c4c1d8b14aa8adb6c","side":"left"},{"sibling":"e734b0c6d6d13acb5f4cf00367b3913e5bbf1aa717377aa4e4820c6de24b7673","side":"right"},{"sibling":"4bbb7f78e96179bb9cdd06d7207b66b3503ab68e4880438263025b04ebe8f7ec","side":"right"},{"sibling":"d841ad93efda0869e5eb97678f348f03f5caab4353e05ff4bf18f47fb945b822","side":"left"}]},"schema":"crovia.axiom_proof.v1","seal":{"first_collector_run_id":"","first_receipt_hash":"","jsonl_path":"/opt/crovia/substrate/axiom_ledger.jsonl","key_id":"430895f101d38164","last_collector_run_id":"","last_receipt_hash":"","leaf_count":149835,"merkle_root":"51484a548bc0cf3d178eec868e98935c87f0aa83369143b7c96b048585e5ba01","public_key_hex":"cf742e26f75669dc673cb5c0786a1ae23ae8ca19c347317192ce40c28a7ff25c","run_id":"hourly_json_retrofit_20260525T053701Z","schema":"crovia.seal.v1","seal_family_version":"crovia-seal-family/1","seal_kind":"substrate_batch","sealed_at":"2026-05-25T05:37:33Z","sig_algorithm":"ed25519","signature":"99a657e53a015ace0bade5d7fbb3f60f950b6d1e1128251a63afcc454a492422cae5efdc0c18503b4f7e62f371bd48f2889be78d9048c4681d6c1e73f754d705","signer_version":"1.1.0"},"trust_root":{"key_id":"430895f101d38164","public_key_hex":"cf742e26f75669dc673cb5c0786a1ae23ae8ca19c347317192ce40c28a7ff25c","signature_algorithm":"ed25519","url":"/registry/canon/TRUST_ROOT.md"},"verifier":{"spec":"/registry/canon/AXIOM_RECEIPT_v1.md","url":"/v/axm_f0569b2870cba55ded4b1f1afc35e1e742729152d07bdc986a65b0b135086a40"}}