Think Fast, Plan Selectively: Adaptive Deliberation for Efficient Data-Driven MPC
Overview
This research presents Fast-TD-MPC, a lightweight framework inspired by dual-process theory that adaptively routes between fast policy execution and test-time planning. It achieves up to ~4x faster inference across 103 continuous control tasks while maintaining robustness comparable to the original planner under external disturbances.
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- arXiv Robotics — research abstractsSignalThink Fast, Plan Selectively: Adaptive Deliberation for Efficient Data-Driven MPC
This research presents Fast-TD-MPC, a lightweight framework inspired by dual-process theory that adaptively routes between fast policy execution and test-time planning. It achieves up to ~4x faster inference across 103 continuous control tasks while maintaining robustness comparable to the original planner under external disturbances.
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