{"paper":{"title":"Mind Dreamer: Untethering Imagination via Active Latent Intervention on Latent Manifolds","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.RO"],"primary_cat":"cs.LG","authors_text":"Luping Shi, Rong Zhao, Shaojun Xu, Xiaoling Zhou, Xinglong Ji, Yapeng Meng, Yihan Lin","submitted_at":"2026-05-15T15:05:58Z","abstract_excerpt":"Model-Based Reinforcement Learning (MBRL) leverages latent imagination for sample efficiency, yet remains constrained by Historical Tethering: imagination is typically initialized from observed states. This creates a learning asymmetry, where the world model's manifold discovery outpaces the policy's sparse-reward optimization. We propose Mind Dreamer (MD), a framework that operationalizes Active Latent Intervention (ALI) to transcend Markovian continuity. MD reformulates discovery as the minimization of a global Relay Manifold Expected Free Energy (R-EFE); by sampling initial states from a le"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2605.16030","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2605.16030/integrity.json","findings":[],"available":true,"detectors_run":[{"name":"ai_meta_artifact","ran_at":"2026-05-19T17:33:42.150943Z","status":"skipped","version":"1.0.0","findings_count":0},{"name":"claim_evidence","ran_at":"2026-05-19T16:41:55.543919Z","status":"completed","version":"1.0.0","findings_count":0}],"snapshot_sha256":"be22cc7ab184fec98ffc0f5f9e8a6ba5e8fe39344393e0faaf3fc2101277a000"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}