ACID: Action Consistency via Inverse Dynamics for Planning with World Models
Decision-time planning with action-conditioned world models has become a popular paradigm for embodied control. However, the standard planning cost judges a candidate solely by how close its predicted terminal state lies to the goal, leaving the realizability of the intermediate transitions unchecked -- a predicted trajectory can look convincing while the environment rollout drifts away from it. In this paper, we propose ACID, a decision-time planning framework that introduces cycle action consistency: the action inferred backward from a predicted transition by an inverse dynamics model should
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- PossiblePossibly related (embedding) · 51%airbus/scikit-decide →
- PossiblePossibly related (embedding) · 48%Gradient-based Planning for World Models at Longer Horizons →
- LinkedLinked via arxiv author · 85%Gawon Seo →
“ACID: Action Consistency via Inverse Dynamics for Planning with World Models”
- LinkedLinked via arxiv author · 85%Dongwon Kim →
“ACID: Action Consistency via Inverse Dynamics for Planning with World Models”
- LinkedLinked via arxiv author · 85%Suha Kwak →
“ACID: Action Consistency via Inverse Dynamics for Planning with World Models”
- FuzzySimilar title/name (fuzzy) · 84%liguodongiot/llm-action →
“Fuzzy title match (0.92): “ACID: Action Consistency via Inverse Dynamics for Planning w” ≈ “liguodongiot/llm-action””