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Proximal Residual Value Functions for Consistent Planning and Real-Time Execution

arXiv · AI, language, vision and robotics · article · Sep 19, 2026 · UTC

We study two-timescale decision systems in which a planning layer periodically supplies a continuation-value function to a real-time optimizer that allocates arriving resources, with inventory placement as our motivating application. We propose an end-to-end reinforcement learning (RL) method for learning this function using \emph{proximal residual value functions}, which combine a strictly convex potential of post-decision inventory with a learned convex residual. This general form yields a well-posed optimization layer that supports end-to-end differentiation while preserving an explicit con

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