mlsanityData to 14 Oct 2026

Learning to Race in Minutes: Infoprop Dyna on the Mini Wheelbot

arXiv 2605.01096 ↗First posted 1 May 2026cs.LG cs.ROcited by 1

On the map: Deep reinforcement learning methods → RL for autonomous driving and traffic

Abstract (arXiv)

Reinforcement Learning (RL) has the potential to enable robots with fast, nonlinear, and unstable dynamics to reach the limits of their performance. However, most recent advances rely on carefully designed physics-based simulators and domain randomization to achieve successful sim-to-real transfer within reasonable wall-clock time. In this work, we bypass the need for such simulators and demonstrate that Infoprop Dyna, a state-of-the-art uncertainty-aware model-based reinforcement learning (MBRL) framework, can enable robots to learn directly from real-world interactions. Using Infoprop Dyna, the Mini Wheelbot, an underactuated unicycle robot, learns to race around a track within 11 minutes of real-world experience.

Key facts. Cited by 1 paper in the map (data through 14 Oct 2026). Placed in RL for autonomous driving and traffic, one of 15 directions in Deep reinforcement learning methods. Builds on 6 of its 11 references that are in the map. First posted on arXiv 1 May 2026.

Builds on

6 of 11 references.

References · 6

  1. 2019Dream to Control: Learning Behaviors by Latent Imaginationcited by 1,653
  2. 2019Solving Rubik's Cube with a Robot Handcited by 734
  3. 2021Learning to Walk in Minutes Using Massively Parallel Deep Reinforcement Learningcited by 512
  4. 2024Trust the Model Where It Trusts Itself -- Model-Based Actor-Critic with Uncertainty-Aware Rollout Adaptioncited by 18
  5. 2025On Rollouts in Model-Based Reinforcement Learningcited by 10
  6. 2025The Mini Wheelbot: A Testbed for Learning-based Balancing, Flips, and Articulated Drivingcited by 4

Built on by

Cited by year (2026 to 14 Oct)

Citing papers per year: 2026: 1.

1 paper.

  1. 2026All Models are Wrong, Knowing Where is Useful: On Model Uncertainty in Reinforcement Learningcited by 0

Similar, not cited

Close in wording, no citation either way

  1. 2026The Mini Wheelbot Dataset: High-Fidelity Data for Robot Learning ↗
  2. 2025Uncertainty-Aware Robotic World Model Makes Offline Model-Based Reinforcement Learning Work on Real Robots
  3. 2025Context-Aware Model-Based Reinforcement Learning for Autonomous Racing
  4. 2025On learning racing policies with reinforcement learning
  5. 2024RACER: Epistemic Risk-Sensitive RL Enables Fast Driving with Fewer Crashes
  6. 2025Learning to Walk With Less: A Dyna-Style Approach to Quadrupedal Locomotion
  7. 2026Continual-RL for Generalization in Autonomous Racing on the RoboRacer Platform
  8. 2025Learning More With Less: Sample Efficient Model-Based RL for Loco-Manipulation