TD-MPC2 Implementation#159

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luizfacury wants to merge 13 commits intogalilai-group:mainfrom

luizfacury:tdmpc2

Commits on Mar 23, 2026

tdmpc2 implementation

luizfacury
authored and
quentinll
committed
adding tdmpc policy

luizfacury
authored and
quentinll
committed
refactor: remove Transformable and Actionable protocols from policy.py; add new protocols in protocols.py
quentinll
committed
refactor: remove TDMPCPolicy and related protocols; extend WorldModelPolicy to incorporate a warm_start from an actionable model
quentinll
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test: add warm-start tests for WorldModelPolicy with actionable models
quentinll
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fix: update import statement for Costable protocol in LagrangianSolver
quentinll
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updating documentation
quentinll
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fix: add TODO comment to address state handling issue in build_init_action function
quentinll
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feat: enhance Actionable protocol and TDMPC2 get_action method to support warm-start actions
quentinll
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fix: update get_action method in MockActionableCostableModel to support prefix actions
quentinll
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refactor: replace build_init_action with prepare_init_action across solvers and update related logic
quentinll
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fix: update init_action handling in CEMSolver and LagrangianSolver tests to ensure correct tensor shapes and values
quentinll
committed

Commits on Mar 27, 2026

tdmpc2 fixes and online training addition
luizfacury
committed