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Álvaro Serra-Gómez

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#machine learning Preprint Sep 2026

GEM-MPC: Balancing Exploration and Exploitation through Expert-Guided Planning

Effective exploration in high-dimensional continuous control remains a central challenge in reinforcement learning. Planning-based methods address this by combining online planning with learned policies and value functions, but their components can become misaligned during training: learned sampling policies may diverg...

Álvaro Serra-Gómez, Thomas Moerland · 0 citations

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