Supervise What Decides Success: Criterion-Aligned Auxiliary Losses for Latent World-Model Planning

Excerpt

arXiv:2610.01224v1 Announce Type: new Abstract: Latent world models plan by scoring candidate action sequences with distances in latent space. However, task success is judged by physical quantities, which we call the success-criterion quantities. In all four latent world models we examine, the end-effector position is encoded in the latent state with an error larger than the success criterion allows. Such a latent state cannot separate successful candidates from failing ones. We propose an auxil