Pith Number

pith:KK5YAO5G

pith:2026:KK5YAO5GQ7TYDNCULMR4KTM2IU

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Latent Geometry Beyond Search: Amortizing Planning in World Models

Hoang Nguyen, Xiaohao Xu, Xiaonan Huang

In a pretrained world model whose latent space is regularized for smoothness and uniformity, a goal-conditioned inverse dynamics model can replace online search while matching its performance at far lower cost.

arxiv:2605.08732 v2 · 2026-05-09 · cs.RO · cs.LG

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Claims

C1strongest claim

Under such geometry, planning can be amortized into a latent inverse-dynamics mapping instead of requiring online search. Empirically, the GC-IDM matches or exceeds CEM in seven of eight environment-protocol settings while reducing per-decision cost by 100-130x.

C2weakest assumption

That the smoothness and uniformity regularization already present in the pretrained LeWorldModel is sufficient for a learned inverse-dynamics map to capture the planning structure that would otherwise require online search.

C3one line summary

In regularized latent spaces of world models, planning can be amortized into a goal-conditioned inverse dynamics model that matches CEM performance at 100-130x lower per-decision cost.

Receipt and verification

First computed	2026-06-08T01:04:07.114185Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

52bb803ba687e781b4545b23c54d9a450e28a7cf972bee8654287832638ae294

Aliases

arxiv: 2605.08732 · arxiv_version: 2605.08732v2 · doi: 10.48550/arxiv.2605.08732 · pith_short_12: KK5YAO5GQ7TY · pith_short_16: KK5YAO5GQ7TYDNCU · pith_short_8: KK5YAO5G

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Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/KK5YAO5GQ7TYDNCULMR4KTM2IU \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: 52bb803ba687e781b4545b23c54d9a450e28a7cf972bee8654287832638ae294

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "057bb88f7facbae970b49d2f09cfa2ff1f4a83b71c8e6b9bc34ef0ea6da34c82",
    "cross_cats_sorted": [
      "cs.LG"
    ],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-05-09T06:36:23Z",
    "title_canon_sha256": "dd19812f399afe97cf4ee42d5389ddd05896dc58cd2f7e0cfbd9337128612137"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2605.08732",
    "kind": "arxiv",
    "version": 2
  }
}