Paper recorded by Signals 4 on 2026-09-24 in cs.AI. Abstract reproduced from arXiv; link to the original below.
Published 2026-09-24 on arXiv · recorded by Signals 4 on 2026-09-25
Category: cs.AI · 人工智能 · first seen 2026-09-25
Latent world models are typically trained to predict factual transitions, whereas model predictive control (MPC) must compare alternative actions from the same state. A model can therefore achieve low factual prediction error yet poorly distinguish candidate actions. We introduce AD-WM, an action-discriminative joint-embedding world model for counterfactual MPC. AD-WM combines residual latent dyna