Model-Based RL

RL: Reinforcement Learning

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20 papers in the last four weeks, up 122% on the four weeks before. 0.2% of all new papers.

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Latest papers 143

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Sampling-Based Safe Reinforcement Learning
May 19, 2026Luca Vignola, Bruce D. Lee, Manish Prajapat +4Robot Safety Safe RL
ETH Zurich
PH-Dreamer: A Physics-Driven World Model via Port-Hamiltonian Generative Dynamics
May 18, 2026Xueyu Luan, Chenwei ShiDynamical Systems Reinforcement Learning
School of Electronic and Information Engineering Tongji University Shanghai 200092, China · Shanghai Research Institute for Intelligent Autonomous Systems Tongji University Shanghai 200092, China
Transfer Learning for Customized Car Racing Environments
May 18, 2026Benedict Florance Arockiaraj, Richard Chang, Wesley YeeAutonomous Racing Cross-Domain Transfer Learning
SEAS
Learning Multi-Timescale Abstractions for Hierarchical Combinatorial Planning
May 16, 2026Vivienne Huiling Wang, Tinghuai Wang, Joni PajarinenWorld Model-Based Planning Hierarchical RL
Department of Electrical Engineering and Automation, Aalto University, Finland · Qutwo, Finland
EfficientTDMPC: Improved MPC Objectives for Sample-Efficient Continuous Control
May 15, 2026Thomas Evers, Cristian Meo, Wendelin Bohmer +2Model Predictive Control Continuous Control
TU Delft · LatentWorlds AI
Ada-Diffuser: Latent-Aware Adaptive Diffusion for Decision-Making
May 15, 2026Fan Feng, Selena Ge, Minghao Fu +6Latent Action Learning Latent Dynamics Modeling
University of California San Diego · MBZUAI · Carnegie Mellon University +2
Mind Dreamer: Untethering Imagination via Active Causal Intervention on Latent Manifolds
May 15, 2026Shaojun Xu, Xiaoling Zhou, Yihan Lin +4Reinforcement Learning Credit Assignment in RL
Center for Brain-Inspired Computing Research, Department of Precision Instrument, Tsinghua University, Beijing, China · College of Computer Science and Technology, Zhejiang University, Hangzhou, China · Pen-Tung Sah Institute of Micro-Nano Science and Technology, Xiamen University, Xiamen, China +1
Imperfect World Models are Exploitable
May 15, 2026Logan Mondal Bhamidipaty, Esmeralda S. Whitammer, David Abel +2Reward Hacking World Model-Based Planning
University of Edinburgh · Stanford University
Offline Reinforcement Learning with Universal Horizon Models
May 15, 2026Hojun Chung, Junseo Lee, Songhwai OhOffline RL Model-Based RL
Interdisciplinary Program in Artificial Intelligence and ASRI, Seoul National University · Department of Electrical and Computer Engineering, Seoul National University
JEDI: Joint Embedding Diffusion World Model for Online Model-Based Reinforcement Learning
May 13, 2026Jing Yu Lim, Rushi Shah, Zarif Ikram +4World Model Learning Joint-Embedding Predictive Architecture
National University of Singapore · usc
Transferable Delay-Aware Reinforcement Learning via Implicit Causal Graph Modeling
May 12, 2026Chenran Zhao, Dianxi Shi, Yaowen Zhang +2Causal Representation Learning Reinforcement Learning
College of Computer Science and Technology, National University of Defense Technology, Changsha, China · Institute of Military Transportation, Tianjin, China · Intelligent Game and Decision Lab (IGDL), Beijing, China
PriorZero: Bridging Language Priors and World Models for Decision Making
May 12, 2026Junyu Xiong, Yuan Pu, Jia Tang +1LLM-Guided RL Latent World Models
University of Science and Technology of China · Shanghai Artificial Intelligence Laboratory · Nanjing University of Aeronautics and Astronautics +1
OrbiSim: World Models as Differentiable Physics Engines for Embodied Intelligence
May 12, 2026Jiajian Li, Jingyuan Huang, Junru Gong +3Robotic Control Robotics Simulation
MoE Key Lab of Artificial Intelligence, AI Institute, School of Computer Science Shanghai Jiao Tong University
Debiased Model-based Representations for Sample-efficient Continuous Control
May 12, 2026Jiafei Lyu, Zichuan Lin, Scott Fujimoto +5Representation Learning Continuous Control
1Tencent Hunyuan · 2McGill University · School of Computer
Offline Policy Optimization with Posterior Sampling
May 8, 2026Hongqiang Lin, Dongxu Zhang, Yiding Sun +3OOD Generalization Posterior Sampling
Zhejiang University · Xi’an Jiaotong University · Institute of Automation, Chinese Academy of Sciences +1
Improved Model-based Reinforcement Learning with Smooth Kernels
May 8, 2026Kun Long, Yuqiang Li, Xianyi WuReinforcement Learning Continuous-Time RL
School of Statistics, KLATASDS-MOE, East China Normal University, North Zhongshan Road, Shanghai, 200062, PR China.
Sequential Design of Genetic Circuits Under Uncertainty With Reinforcement Learning
May 7, 2026Michal Kobiela, Diego A. Oyarzún, Michael U. GutmannReinforcement Learning Model-Based RL
School of Informatics, The University of Edinburgh, UK · School of Informatics, School of Biological Sciences, The University of Edinburgh, UK · School of Informatics, The University of Edinburgh,, UK
On Training in Imagination
May 7, 2026Nadav Timor, Ravid Shwartz-Ziv, Micah Goldblum +2Reward Modeling Reinforcement Learning
Weizmann Institute of Science · New York University · Columbia University
Offline Reinforcement Learning for Rotation Profile Control in Tokamaks
May 7, 2026Rohit Sonker, Hiro Josep Farre Kaga, Jiayu Chen +5RL Control Offline RL
1Robotics Institute, Carnegie Mellon University · 2Princeton University · 4The University of Hong Kong +2
Unified Framework of Distributional Regret in Multi-Armed Bandits and Reinforcement Learning
May 6, 2026Harin Lee, Min-hwan OhMulti-Armed Bandits Regret Minimization in RL
University of Washington · Seoul National University
ELVIS: Ensemble-Calibrated Latent Imagination for Long-Horizon Visual MPC
May 6, 2026Yurui Du, Pinhao Song, Yutong Hu +1Visual SSMs Model Predictive Control
KU Leuven, Dept. Electrical Engineering, Research unit Processing Speech and Images, B-3000 Leuven, Belgium · Flanders Make at KU Leuven, B-3000 Leuven, Belgium · KU Leuven, Dept. Mechanical Engineering, Research unit Robotics, Automation and Mechatronics, B-3000 Leuven, Belgium
Dream-MPC: Gradient-Based Model Predictive Control with Latent Imagination
May 6, 2026Jonathan Spieler, Sven BehnkeModel Predictive Control Optimal Control
Autonomous Intelligent Systems, Computer Science Institute VI - Intelligent Systems and Robotics, Center for Robotics and the Lamarr Institute for Machine Learning and Artificial Intelligence, University of Bonn, Germany.
Counter-Dyna: Data-Efficient RL-Based HVAC Control using Counterfactual Building Models
May 6, 2026Jan Marco Ruiz de Vargas, Fabian Raisch, Zoltan Nagy +2Neural Surrogate Modeling Building Energy Management
Technical University of Munich Munich, Germany · Technical University of Applied Sciences Rosenheim Rosenheim, Germany · Eindhoven University of Technology Eindhoven, Netherlands +1
Adaptive Estimation and Optimal Control in Offline Contextual MDPs without Stationarity
May 5, 2026Riddhiman Bhattacharyya, Sayak Chakrabarty, Imon BanerjeeNon-Stationary RL Markov Decision Processes
Department of Statistics, University of California, Santa Cruz Santa Cruz, California, USA · Department of Computer Science Northwestern University Evanston, IL, USA · Department of Industrial Engineering and Management Sciences Northwestern University Evanston, IL, USA
Closed-Loop CO2 Storage Control With History-Based Reinforcement Learning and Latent Model-Based Adaptation
May 4, 2026Sofianos Panagiotis Fotias, Vassilis GaganisRL Control Latent Dynamics Modeling
School of Mining and Metallurgical Engineering, National Technical University of Athens, Athens 157 73, Greece · Institute of Geoenergy, Foundation for Research and Technology, Chania, 73100, Greece
TRAP: Tail-aware Ranking Attack for World-Model Planning
May 3, 2026Siyuan Duan, Ke Zhang, Xizhao LuoBackdoor Attacks World Model-Based Planning
Department of Computer Science and Technology, Soochow University Suzhou, China
Model-Based Proactive Cost Generation for Learning Safe Policies Offline with Limited Violation Data
May 2, 2026Ruiqi Xue, Lei Yuan, Kainuo Cheng +2LLM-Guided RL Offline RL
National Key Laboratory for Novel Software Technology, Nanjing University · School of Artificial Intelligence, Nanjing University · Polixir Technologies +2
Learning to Race in Minutes: Infoprop Dyna on the Mini Wheelbot
May 1, 2026Devdutt Subhasish, Henrik Hose, Sebastian TrimpeRobot Skill Learning Autonomous Racing
Institute for Data Science in Mechanical Engineering, RWTH Aachen University, 52062 Aachen
Model-Based Reinforcement Learning with Double Oracle Efficiency in Policy Optimization and Offline Estimation
May 1, 2026Haichen Hu, Jian Qian, David Simchi-LeviRegret Minimization in RL Markov Decision Processes
Laboratory for Information and Decision Systems · Department of AI and Data Science
Interpretable experiential learning based on state history and global feedback
May 1, 2026Anton KoloninReinforcement Learning Game-Playing Agents
1The Artificial Intelligence Research Center, Novosibirsk State University, Russia · 2Aigents, Russia.

May 19, 2026, cs.LGJ/K move · Enter open · S save

Sampling-Based Safe Reinforcement Learning

Luca Vignola, Bruce D. Lee, Manish Prajapat, Manuel Wendl+3

ETH Zurich

Robot Safety Safe RL Sample-Efficient RL Model-Based RL

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Safe exploration remains a fundamental challenge in reinforcement learning (RL), limiting the deployment of RL agents in the real world. We propose Sampling-Based Safe Reinforcement Learning (SBSRL), a model-based RL algorithm that maintains safety throughout the learning process by enforcing constraints jointly across a finite set of dynamics samples. This formulation approximates an intractable worst-case optimization over uncertain dynamics and enables practical safety guarantees in continuous domains. We further introduce an exploration strategy based on constraining epistemic uncertainty, eliminating the need for explicit exploration bonuses. Under regularity conditions, we derive high-probability guarantees of safety throughout learning and a finite-time sample complexity bound for recovering a near-optimal policy. Empirically, SBSRL achieves safe and efficient exploration both in simulation and in real robotic hardware, and readily extends to practical deep-ensemble implementations that scale to high-dimensional continuous control problems.

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Latest papers 143