mlsanityData to 14 Oct 2026

MapGo: Model-Assisted Policy Optimization for Goal-Oriented Tasks

arXiv 2105.06350 ↗First posted 13 May 2021cs.AI cs.LGcited by 13

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Abstract (arXiv)

In Goal-oriented Reinforcement learning, relabeling the raw goals in past experience to provide agents with hindsight ability is a major solution to the reward sparsity problem. In this paper, to enhance the diversity of relabeled goals, we develop FGI (Foresight Goal Inference), a new relabeling strategy that relabels the goals by looking into the future with a learned dynamics model. Besides, to improve sample efficiency, we propose to use the dynamics model to generate simulated trajectories for policy training. By integrating these two improvements, we introduce the MapGo framework (Model-Assisted Policy Optimization for Goal-oriented tasks). In our experiments, we first show the effectiveness of the FGI strategy compared with the hindsight one, and then show that the MapGo framework achieves higher sample efficiency when compared to model-free baselines on a set of complicated tasks.

Key facts. Cited by 13 papers in the map (data through 14 Oct 2026). Builds on 20 of its 30 references that are in the map. First posted on arXiv 13 May 2021.

Builds on

20 of 30 references.

References · 20

  1. 2017Model-Agnostic Meta-Learning for Fast Adaptation of Deep Networkscited by 4,897
  2. 2015Continuous control with deep reinforcement learningcited by 3,407
  3. 2017Hindsight Experience Replaycited by 1,136
  4. 2018Deep Reinforcement Learning in a Handful of Trials using Probabilistic Dynamics Modelscited by 774
  5. 2019When to Trust Your Model: Model-Based Policy Optimizationcited by 773
  6. 2017Automatic Goal Generation for Reinforcement Learning Agentscited by 259
  7. 2018Visual Reinforcement Learning with Imagined Goalscited by 251
  8. 2018Sample-Efficient Reinforcement Learning with Stochastic Ensemble Value Expansioncited by 168
  9. 2019Benchmarking Model-Based Reinforcement Learningcited by 162
  10. 2018Model-Based Value Estimation for Efficient Model-Free Reinforcement Learningcited by 156
  11. 2018Algorithmic Framework for Model-based Deep Reinforcement Learning with Theoretical Guaranteescited by 140
  12. 2020Maximum Entropy Gain Exploration for Long Horizon Multi-goal Reinforcement Learningcited by 102
8 more
  1. 2020Counterfactual Data Augmentation using Locally Factored Dynamicscited by 93
  2. 2019Exploring Model-based Planning with Policy Networkscited by 90
  3. 2019Keeping Your Distance: Solving Sparse Reward Tasks Using Self-Balancing Shaped Rewardscited by 78
  4. 2019Dynamical Distance Learning for Semi-Supervised and Unsupervised Skill Discoverycited by 68
  5. 2019Exploration via Hindsight Goal Generationcited by 54
  6. 2020Goal-Aware Prediction: Learning to Model What Matterscited by 45
  7. 2020PlanGAN: Model-based Planning With Sparse Rewards and Multiple Goalscited by 21
  8. 2019Regularizing Model-Based Planning with Energy-Based Modelscited by 11

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Cited by year (2026 to 14 Oct)

Citing papers per year: 2021: 2; 2022: 3; 2023: 3; 2024: 2; 2025: 1; 2026: 2.

13 papers.

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  1. 2022Goal-Conditioned Reinforcement Learning: Problems and Solutionscited by 158
  2. 2023Diffusion Models for Reinforcement Learning: A Surveycited by 91
  3. 2022A Survey on Model-based Reinforcement Learningcited by 66
  4. 2021MHER: Model-based Hindsight Experience Replaycited by 15
  5. 2024Quality-Diversity Actor-Critic: Learning High-Performing and Diverse Behaviors via Value and Successor Features Criticscited by 13
  6. 2021Learning Diverse Policies in MOBA Games via Macro-Goalscited by 7
  7. 2026SVL: Goal-Conditioned Reinforcement Learning as Survival Learningcited by 3
  8. 2023Guided Cooperation in Hierarchical Reinforcement Learning via Model-based Rolloutcited by 2
  9. 2023MRHER: Model-based Relay Hindsight Experience Replay for Sequential Object Manipulation Tasks with Sparse Rewardscited by 1
  10. 2026Data-Efficient Hierarchical Goal-Conditioned Reinforcement Learning via Normalizing Flowscited by 1
  11. 2022Planning Immediate Landmarks of Targets for Model-Free Skill Transfer across Agentscited by 0
  12. 2024Goal-Conditioned Terminal Value Estimation for Real-time and Multi-task Model Predictive Controlcited by 0
1 more
  1. 2025Multi-Goal Dexterous Hand Manipulation using Probabilistic Model-based Reinforcement Learningcited by 0