IPD: Boosting Sequential Policy with Imaginary Planning Distillation in Offline Reinforcement Learning
Decision transformer based sequential policies have emerged as a powerful paradigm in offline reinforcement learning (RL), yet their efficacy remains constrained by the quality of static datasets and inherent architectural limitations. Specifically, these models often struggle to effectively integrate suboptimal experiences and fail to explicitly plan for an optimal policy. To bridge this gap, we propose textbf{Imaginary Planning Distillation (IPD)}, a novel framework that seamlessly incorporates offline planning into data generation, supervised training, and online inference. Our framework […]