Receding-Horizon Control via Drifting Models

arXiv:2604.04528v1 Announce Type: new Abstract: We study the problem of trajectory optimization in settings where the system dynamics are unknown and it is not possible to simulate trajectories through a surrogate model. When an offline dataset of trajectories is available, an agent could directly learn a trajectory generator by distribution matching. However, this approach only recovers the behavior distribution in the dataset, and does not in general produce a model that minimizes a desired co