Order-Consistent Latent Geometry for Reliable Short-Horizon Planning in World Models
Latent planners often rank candidate action sequences by terminal Euclidean distance to a goal latent. Exact agreement with transition distance would make this score ideal, but is stronger than planning requires: along a transition-shortest rollout, the essential requirement is that latent distance does not reverse true transition progress. We show that this pathwise no-reversal requirement is precisely the classical self-approaching condition. To the best of our knowledge, we are the first to identify self-approachingness as a planner-facing compatibility condition for terminal Euclidean latent planning and to connect its violation to an exact finite-horizon candidate-order reversal. Bec...
| Authors | Junlin Wu, Wen Fan, Dandan Zhang |
|---|---|
| Primary category | cs.AI |
| Published | 13 October 2026 |
| Last updated at source | 13 October 2026 |
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