LAtent Planner
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Related Articles from SNS
LAP: Fast LAtent Diffusion Planner for Autonomous Driving
arXiv:2512.00470v4 Announce Type: replace Abstract: Diffusion models have demonstrated strong capabilities for modeling human-like driving behaviors in autonomous driving, but their iterative sampling process induces substantial latency, and operating directly on raw trajectory points forces the model to spend capacity on low-level kinematics, rather than high-level multi-modal semantics. To address these limitations, we propose LAtent Planner (LAP), a framework that plans in a VAE-learned...
FF-JEPA: Long-Horizon Planning in World Models with Latent Planners
Announce Type: new Abstract: Joint Embedding Predictive Architectures (JEPAs) have shown promising world modeling capabilities, enabling planning in latent space by optimizing action trajectories using methods like the Cross-Entropy Method (CEM). These methods are, however, too computationally expensive and ineffective for long-horizon planning. Furthermore, these methods typically require an explicit image of the goal state, which is not always possible in real-world tasks.
PLAN-S: Bridging Planning with Latent Style Dynamics for Autonomous Driving World Models
Announce Type: new Abstract: Latent world models (LWMs) have strengthened end-to-end autonomous driving by forecasting compact scene dynamics for downstream planning. However, existing LWM-based planners usually generate trajectories directly from entangled latent representations. This compact latent-to-planner pathway lacks explicit modeling of risk, drivability, and diverse style preferences, making driving-style dynamics difficult to supervise, inspect, or modulate before a final...
Improving Diffusion Planners by Self-Supervised Action Gating with Energies
arXiv:2603.02650v2 Announce Type: replace Abstract: Diffusion planners are a strong approach for offline reinforcement learning, but they can fail when value-guided selection favours trajectories that score well yet are locally inconsistent with the environment dynamics, resulting in brittle execution. We propose Self-supervised Action Gating with Energies (SAGE), an inference-time re-ranking method that penalises dynamically inconsistent plans using a latent consistency signal. SAGE trains...
AHA-WAM:Asynchronous Horizon-Adaptive World-Action Modeling with Observation-Guided Context Routing
arXiv:2606.09811v1 Announce Type: new Abstract: World-action models have emerged as a promising paradigm for robot manipulation, jointly modeling visual scene dynamics and actions to inject physical priors into policy learning. However, existing world-action models couple world prediction and action execution at the same temporal resolution, forcing the world branch to model near-term frame variations that are redundant and weakly informative. We posit that strictly binding world prediction...
Generative Frontier Planning for Adaptive Peer-Referral Recruitment under Covariate-Dependent Arrivals
arXiv:2606.08360v1 Announce Type: new Abstract: Peer-referral recruitment systems such as respondent-driven sampling are critical for studying and intervening on hidden populations affected by infectious diseases. To accelerate recruitment, public health agencies must adaptively allocate limited referral resources across multiple rounds, where current decisions shape both the number and the covariates of future recruits. Prior work makes this problem tractable by assuming that referrals are...
Risk-Aware Planning for Transit Desert Remediation Under Demand Uncertainty
Announce Type: new Abstract: Transit deserts are areas where public transportation is inadequate despite evidence of travel demand, a condition that affects tens of millions of residents across the Americas. Planning for these areas is difficult because the usual demand signal is missing: ridership cannot be observed before service exists. To address that setting, we formulate risk-aware transit desert remediation as a partially observable Markov decision process with Conditional...
Early Prediction of Future Behavioral Strategy from Process Traces
Announce Type: new Abstract: Adaptive systems often need to make task-specific decisions about people from limited evidence: a tutor may need to anticipate how a learner will approach a new problem, a game may need to adapt when a player enters a new level, and a human-AI system may need to infer whether a partner will persist with a plan or switch goals. These decisions depend on person-level tendencies that shape how people solve related tasks, but such tendencies are difficult to infer...
ATM: Action-Consistency Transfer Matrix for Diagnosing and Improving Latent World Models
arXiv:2606.09028v1 Announce Type: new Abstract: Latent world models are increasingly used for control and goal-conditioned planning, yet assessing whether their learned representations are useful for planning usually requires slow, planner-coupled simulator evaluation with CEM or similar planners. Such evaluation is black-box and model-complexity-dependent: under the same protocol, different world models may require minutes to hours per checkpoint. In this work, we propose ATM, an...
IMWM: Intuition Models Complement World Models for Latent Planning
arXiv:2606.01626v1 Announce Type: new Abstract: Planning with a learned latent world model is a promising route to control from raw pixels, but a strong world model alone is not enough. We show this experimentally: even with a perfect world model (operationalized by replacing the learned forward predictor with an idealized rollout of the true environment dynamics), a finite-budget sample-based planner still fails on some tasks, indicating that the bottleneck can lie in search rather than in...