A Goal-Conditioned Inverse Dynamics Model amortizes planning in pretrained world model latents, matching or exceeding CEM in seven of eight settings at 100-130x lower per-decision cost.
Error propagation and replan frequency.Both CEM and GC-IDM are model predictive con- trollers with a receding horizon, and both are therefore closed-loop in the MPC sense
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Latent Geometry Beyond Search: Amortizing Planning in World Models
A Goal-Conditioned Inverse Dynamics Model amortizes planning in pretrained world model latents, matching or exceeding CEM in seven of eight settings at 100-130x lower per-decision cost.