Predictive but Not Plannable: RC-aux for Latent World Models
A latent world model may achieve accurate short-horizon prediction while still inducing a latent space that is poorly aligned with planning. A key issue is spatiotemporal mismatch: these models are often trained with local predictive supervision, but deployed for long-horizon goal-directed search in latent spaces where Euclidean distance may not reflect what is reachable within a finite action budget. We present the Reachability-Correction auxiliary objective (RC-aux), a lightweight correction for this mismatch in reconstruction-free latent world models. RC-aux keeps the world-model backbone unchanged and adds planning-aligned supervision along two axes. Along the time axis, multi-horizon...
| Authors | Wenyuan Li, Guang Li, Keisuke Maeda et al. |
|---|---|
| Primary category | cs.LG |
| Published | 8 May 2026 |
| Last updated at source | 8 May 2026 |
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