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Physics-informedDyna-style royalsocietypublishing. org journal rspa . . . J-XW, 0000-0002-9030-1733 Model-based reinforcement learning (MBRL) is believed to have much higher sample efficiency compared with model-free algorithms by learning a predictive model of the environment However, the performance of MBRL highly relies on the quality of the learned model, which is usually built in a black-box manner and may have poor predictive accuracy outside of the data