In CEM, a World Model Is Also a Proposal Mechanism
The cross-entropy method (CEM) uses world-model scores to select action sequences and fit the distribution sampled in its next iteration. A scoring error can therefore change both the present decision and the candidates considered later. We evaluate these two roles separately. Four types of predictive model generate CEM traces, and every model rescores every saved candidate pool. Executing the same candidates in the environment provides a reference elite set and proposal update. Across twelve independently trained task-seed units on Walker and Cheetah, the pre-specified proposal distance falls from the first to the final CEM iteration in every unit. Proposal widths contract and fitted mea...
| Authors | Oliver Obst, Frieder Stolzenburg |
|---|---|
| Primary category | cs.LG |
| Published | 1 October 2026 |
| Last updated at source | 1 October 2026 |
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