The paper investigates how latent world models (specifically JEPA-style models) use Euclidean distance to a goal latent as a cost for model‑predictive control (MPC). It introduces two metrics—Plan‑Real Spearman and CEM‑stage Spearman—to evaluate how well latent‑space distances align with real‑task progress, a property termed decision‑metric alignment. By identifying encoder distortion, terminal rollout error, and candidate margins as key factors, the authors propose DA‑LeWM, which augments the base model with inverse‑dynamics and demonstration‑conditioned goal‑action heads, leading to faster convergence and higher online success while maintaining similar probe scores.
arXiv:2608. 16287v1 Announce Type: new Abstract: Joint-embedding predictive world models plan by scoring predicted terminal embeddings against a goal embedding using a cost defined on the representation itself.
By Jiaming Hu, Yan Zheng, Tian Wang
arXiv:2608. 14125v1 Announce Type: new Abstract: LeWM is a lightweight visual world model that learns latent dynamics end-to-end from pixels and ranks candidate action sequences by the distance between their predicted endpoints and the goal.
By Xiaodi Huang, Ziyi Ding, Jingtian Wan, Yuchen Liu, Yuan Zhang, Xiao-Ping Zhang, Jiayu Chen, Zhang Zhang, Tao Huang
arXiv:2605. 08732v2 Announce Type: replace-cross Abstract: Modern vision-based world models can represent observations as compact yet expressive latent manifolds, but fast goal-oriented planning in these spaces remains challenging.
By Hoang Nguyen, Xiaohao Xu, Xiaonan Huang
arXiv:2607. 23602v1 Announce Type: cross Abstract: Controllers based on sampling and latent world models assign a predicted terminal cost to each candidate action sequence, choose the minimum, execute its first action block, and replan.
By Liangyu Li, Qingwen Liu, Mingqing Liu
arXiv:2607. 17973v1 Announce Type: new Abstract: Latent world models have emerged as a powerful planning paradigm by learning action-conditioned predictive dynamics and using them as internal simulators to imagine and evaluate candidate action sequences.
By Letian Cheng, Qi Zhang, Yisen Wang
arXiv:2606. 09311v1 Announce Type: new Abstract: Joint Embedding Predictive Architectures (JEPAs) have shown promising world modeling capabilities, enabling planning in latent space by optimizing action trajectories using methods like the Cross-Entropy Method (CEM).
By Sergi Masip, Jonathan Swinnen, Yutong Hu, Renaud Detry, Tinne Tuytelaars
arXiv:2607. 11270v1 Announce Type: cross Abstract: Learning, at its core, extends beyond memorization to the ability to reason and solve novel problems by navigating a space of possibilities.
By Peijun Tang, Shangjin Xie, Baifu Huang, Binyan Sun, Haotian Yang, Kuncheng Luo, Weiqi Jin, Shilin Fang, Jianan Wang
arXiv:2608. 12959v1 Announce Type: cross Abstract: Latent world models are judged by how well they predict, so when planning fails at long horizons the natural reading is that the predictor degrades.
By Joyjeet Singh
arXiv:2607. 03528v1 Announce Type: cross Abstract: Large language models (LLMs) are increasingly deployed as critical decision-making components in high-stakes real-world AI systems, rendering LLM reliability a foremost practical concern.
By Gaoxiang Luo, Yifan Wu, Sinian Zhang, Aryan Deshwal, Ju Sun
arXiv:2606. 27731v1 Announce Type: cross Abstract: Despite their strong general capabilities, large language models (LLMs) often remain unreliable when outputs must be numerically precise.
By Zhuo Zuo, Li Yue, Wenhao Zheng, Chenpeng Wang, Xianggen Liu
arXiv:2604. 03208v2 Announce Type: replace Abstract: World models are a promising path to zero-shot embodied control through planning.
By Wancong Zhang, Basile Terver, Artem Zholus, Soham Chitnis, Harsh Sutaria, Mido Assran, Randall Balestriero, Amir Bar, Adrien Bardes, Yann LeCun, Nicolas Ballas