Don't Throw Away the Tail: Action Upcycling for Policy Acceleration
This work proposes Action Upcycling, a training-free algorithm that reuses actions the policy would otherwise discard, without accessing model internals or drawing extra samples, and finds that discarded actions stay close to their replanned versions as long as the action velocity remains smooth.
Taesung Kwon, Jangho Park, Sunwoo Park et al.
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