CAST结合规划器引导行为提升强化学习

研究团队在DeepMind Control和HumanoidBench套件上评估CAST，并与多种最先进方法对比。CAST成功应用于执行动态手倒立的Unitree Go2四足机器人。

CAST: Alternating State-Value Targets and Expanded Policy Gradients for Model-Based Reinforcement Learning

Model-based reinforcement learning (MBRL) is a family of RL methods that learn a model of the environment and use it for action selection, making it well suited to robotics due to its sample efficiency. Combining learned models with online planning can further improve action selection, as the planner can exploit the model to find better actions than the learned policy alone. Recent methods combining learned policies with online planning typically learn the value of the policy rather than the stronger planner-guided behavior. We present CAST (Critic with Alternating State-value Target), which uses planner-guided behavior to improve value learning while regularizing the value estimate with the current policy. CAST replaces the action-value critic with a state-value critic, trained using a target that combines a real planner-guided transition and an imagined transition under the current policy. The resulting value function corresponds to an alternating process between planner-guided behavior and the current policy, allowing it to benefit from the stronger planner behavior while being regularised by the policy being learned. We evaluate CAST on the DeepMind Control and HumanoidBench Suites against several state-of-the-art methods, and demonstrate successful transfer to a physical Unitree Go2 quadruped performing a dynamic handstand.

本条情报归属 AITOP「论文」核心追踪栏目。在跨区域产业观察坐标中，该动态直接关联「AI 开发者工具链、Coding Agent 与工程化实践」「各国 AI 监管法案、合规治理与主权算力政策」研究主线，反映出当前技术演进与商业落地的最新风向。涉及核心实体与技术议题包括：CAST、强化学习、模型基础、规划器，读者可通过下方标签进入对应专题页查阅历史脉络与关联对比。

信源核验说明：本文原始信息发布自一手权威信源「arXiv: Google DeepMind」（Tier-1 一手发布），具备高确定性参考价值。