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arXiv · 2607.09336

Shortcut Trajectory Planning for Efficient Offline Reinforcement Learning

Guanquan Wang·Yoshimasa Tsuruoka
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Abstract

Diffusion-based trajectory planners have shown strong performance in offline reinforcement learning, but their iterative denoising process often incurs high inference cost. Consistency-based planners reduce the number of sampling steps, yet they typically rely on a two-stage teacher--student distillation pipeline that increases training cost and may introduce instability. We propose Shortcut Trajectory Planning (STP), an offline model-based reinforcement learning framework that incorporates shortcut models as efficient trajectory generators. STP trains a conditional shortcut trajectory model in a single stage, supports adjustable one-step and few-step inference through step-size conditioning, and selects candidate plans using a critic augmented with feasibility-aware correction. Across standard D4RL benchmarks, including locomotion, navigation, manipulation, and dexterous control tasks, STP achieves strong performance while simplifying the training pipeline for fast generative planning.

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BibTeXRIS

Guanquan Wang, Yoshimasa Tsuruoka. 2026-07-10. Shortcut Trajectory Planning for Efficient Offline Reinforcement Learning. https://arxiv.org/abs/2607.09336

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