Abstract
Data-driven model predictive control (MPC) combines learned world models with online trajectory optimization, achieving strong performance in continuous control. However, the per-step cost of sampling and evaluating hundreds of candidate trajectories restricts deployment to control frequencies well below what real-time robotics demands. Motivated by the dual-process theory of human cognition, which distinguishes between fast, intuitive processing (System 1) and slower, deliberative reasoning (System 2), we ask whether every decision requires the same degree of computational deliberation. We propose 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. Fast-TD-MPC delivers competitive task performance across 103 continuous control tasks while achieving up to ~4x faster inference. Under external disturbances, Fast-TD-MPC selectively falls back to planning, maintaining robustness comparable to the original planner.
Keywords
Subject
Publication details
- Journal
- Not available
- Open access
- Green open access
Cite this article
APA 7
Goh, Y. X., Yang, S. J., & Luan, H. (2026). Think Fast, Plan Selectively: Adaptive Deliberation for Efficient Data-Driven MPC. https://omanscience.com/en/articles/think-fast-plan-selectively-adaptive-deliberation-for-efficient-data-driven-mpc
MLA 9
Goh, Yi Xian, et al. "Think Fast, Plan Selectively: Adaptive Deliberation for Efficient Data-Driven MPC." https://omanscience.com/en/articles/think-fast-plan-selectively-adaptive-deliberation-for-efficient-data-driven-mpc.
Chicago (author–date)
Goh, Yi Xian, Sze Jue Yang, and Hao Luan. 2026. "Think Fast, Plan Selectively: Adaptive Deliberation for Efficient Data-Driven MPC." https://omanscience.com/en/articles/think-fast-plan-selectively-adaptive-deliberation-for-efficient-data-driven-mpc.
Harvard
Goh, Y. X., Yang, S. J. and Luan, H. (2026) 'Think Fast, Plan Selectively: Adaptive Deliberation for Efficient Data-Driven MPC', Available at: https://omanscience.com/en/articles/think-fast-plan-selectively-adaptive-deliberation-for-efficient-data-driven-mpc.
Vancouver
Goh YX, Yang SJ, Luan H. Think Fast, Plan Selectively: Adaptive Deliberation for Efficient Data-Driven MPC. https://omanscience.com/en/articles/think-fast-plan-selectively-adaptive-deliberation-for-efficient-data-driven-mpc
IEEE
Y. X. Goh, S. J. Yang, and H. Luan, "Think Fast, Plan Selectively: Adaptive Deliberation for Efficient Data-Driven MPC," https://omanscience.com/en/articles/think-fast-plan-selectively-adaptive-deliberation-for-efficient-data-driven-mpc.