Decision-Metric Alignment in Latent World Models: Diagnostics and Action-Conditioned Objectives for MPC Planning

Jiawei Wang, Ke Rui, Yushen Zuo +2

JEPA-style latent world models can use Euclidean distance to a goal latent as the cost for model-predictive control (MPC). Strong decoding of task variables, however, does not guar…