AINeutralarXiv – CS AI · 9h ago6/10
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Predictive but Not Plannable: RC-aux for Latent World Models
Researchers present RC-aux, a lightweight auxiliary objective that improves latent world models for planning by addressing the spatiotemporal mismatch between short-horizon prediction training and long-horizon planning deployment. The method adds multi-horizon prediction and budget-conditioned reachability supervision to align learned representations with planning requirements, demonstrating improvements on goal-conditioned control tasks.