# Causal Reward World Models: Zero-shot Reward Design for Automated Skill Generation

arXiv: https://arxiv.org/abs/2606.23280 · HTML: https://mlsanity.com/paper/2606.23280/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Placed in Latent dynamics models and model-based RL, one of 11 directions in World models.
- Builds on 6 of its 52 references that are in the map.
- First posted on arXiv 22 Jun 2026.

## Placed in

- World models / [Latent dynamics models and model-based RL](https://mlsanity.com/wm/latent-dynamics-models-and-model-based-rl/)

## Builds on (most cited first, 6 of 6)

- [The Llama 3 Herd of Models](https://mlsanity.com/paper/2407.21783/) (2024)
- [Concrete Problems in AI Safety](https://mlsanity.com/paper/1606.06565/) (2016)
- [World Models](https://mlsanity.com/paper/1803.10122/) (2018)
- [DeepSeek-V3 Technical Report](https://mlsanity.com/paper/2412.19437/) (2024)
- [LimiX: Unleashing Structured-Data Modeling Capability for Generalist Intelligence](https://mlsanity.com/paper/2509.03505/) (2025)
- [Better Decisions through the Right Causal World Model](https://mlsanity.com/paper/2504.07257/) (2025)

## Abstract (arXiv)

Automated Reward Design (ARD) aims to replace manual reward engineering in reinforcement learning with language-driven reward function synthesis. However, existing approaches based on large language models (LLMs) remain inherently correlation-driven, relying on iterative environmental feedback to refine reward hypotheses for each specific task. This paradigm not only results in inefficient reasoning but also makes LLMs susceptible to semantically plausible yet causally spurious reward components, leading to ineffective optimization. To address these limitations, we propose the Causal Reward World Model (CRWM), which explicitly models the causal topological relationships between candidate reward components and task-targeted physical variables through offline pre-training on multi-task interaction data. Based on a coarse-to-fine pre-training strategy, we introduce a joint optimization module that integrates Explicit Mechanism Decoupling with Confidence-Aware Soft Fusion to refine coarse structural priors using micro-level trajectories, thereby constructing a robust and interpretable causal skeleton. During inference, LLMs leverage CRWM as a task-irrelevant causal prior to constrain the reward generation, enabling zero-shot reward function design. Our work opens up a new white-box paradigm for the ARD problem. Extensive experiments on complex continuous control benchmarks demonstrate that CRWM generates executable reward functions without feedback-driven reward refinement, significantly reducing the design latency for acquiring new robotic skills while matching or surpassing state-of-the-art performance, and further exhibits strong generalization capabilities across unseen tasks and diverse robotic embodiments.