Goal-conditioned world models transcribe instructions instead of perceiving spatial relations when the instruction names the scored quantity, and removing the goal from the dynamics fixes it.
Td-mpc2: Scalable, robust world models for continuous control
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Grounding Spatial Relations in a Compact World Model: Instruction Leakage and a Goal-Free Dynamics Fix
Goal-conditioned world models transcribe instructions instead of perceiving spatial relations when the instruction names the scored quantity, and removing the goal from the dynamics fixes it.