<Tip warning={true}>  
🧪 This is an experimental pipeline for reinforcement learning!  
</Tip>  
This pipeline is based on the [Planning with Diffusion for Flexible Behavior Synthesis](https://huggingface.co/papers/2205.09991) paper by Michael Janner, Yilun Du, Joshua B. Tenenbaum, Sergey Levine.  
The abstract from the paper is: