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Yi-Xian Goh

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#machine learning Preprint Sep 2026

Think Fast, Plan Selectively: Adaptive Deliberation for Efficient Data-Driven MPC

This work proposes Fast-TD-MPC, a lightweight framework that adaptively routes between fast policy execution and test-time planning, reserving costly deliberation for states where it is most needed, and delivers competitive task performance across 103 continuous control tasks while achieving up to ~4x faster inference.

Yi-Xian Goh, Sze-Jue Yang, Hao Luan · 0 citations