What Must a World Model Distinguish for Planning?
On the map: World models → World models for language agents also fits: Latent dynamics models and model-based RL
Abstract (arXiv)
World models simulate the consequences of action candidates, but good planning need not preserve every physical distinction required for accurate prediction. We formalize this gap through a hierarchy of mechanism, response, and decision sufficiency. Given a candidate set, the planning query determines which physical variations matter and how precisely they must be preserved: coarse decisions can discard much of the information needed for prediction, whereas fine decisions may require nearly the same resolution. In practice, planners often adaptively search to construct candidates, and information unnecessary for final selection may still be needed to discover good candidates. What a world model must preserve therefore depends on the query, the candidate set, and the planner. We study these effects in a collision system, nonlinear dynamics, and robotic planning. These varying requirements raise a design question: where should query information enter the planning system? A model that jointly generates actions and outcomes conditioned on the query achieves lower regret than an action-conditioned world model on seen objectives, but this advantage largely disappears when generalizing to unseen objectives. Motivated by this, we propose a modular design in which the query determines where to look and an action-conditioned model predicts what will happen, allowing the same predictions to be reused across objectives.
Key facts. No citing papers in the map yet (data through 14 Oct 2026). Placed in World models for language agents, one of 11 directions in World models. Builds on 28 of its 35 references that are in the map. First posted on arXiv 26 Sep 2026.
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28 of 35 references.
References · 28
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- 2022Temporal Difference Learning for Model Predictive Controlcited by 397
16 more
- 2024DINO-WM: World Models on Pre-trained Visual Features enable Zero-shot Planningcited by 386
- 2015Embed to Control: A Locally Linear Latent Dynamics Model for Control from Raw Imagescited by 274
- 2024ManiSkill3: GPU Parallelized Robotics Simulation and Rendering for Generalizable Embodied AIcited by 229
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- 2026How Much Planning Is Enough? Reducing Search and Computation in World-Model Planning
- 2026Dual-Frontier: When Can an Agent Trust Its World Model?
- 2026Beyond Visual Quality: A Study of Test-Time Planning with World Action Models
- 2026PRISM: PRior-guided Imagination Sampling in world Models
- 2026Is the Future Compatible? Diagnosing Dynamic Consistency in World Action Models
- 2026When Low Prediction Error Misleads Planning: Diagnosing Representation, Dynamics, and Decision Failures in Latent World Models
- 2026verdi: retrieval is not transfer for continual world model optimization
- 2026A Control Theory of Predictability in Latent World Models