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News/AD-WM: Action-Discriminative World Models for Counterfactual Model Predictive Control
arxiv
PublishedSeptember 29, 2026 at 4:00 AM
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AD-WM: Action-Discriminative World Models for Counterfactual Model Predictive Control

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arXiv:2609.30264v2 Announce Type: replace Abstract: 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

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