Yichun Feng

AUG 19, 2026 · PREPRINT

Decision-Metric Alignment in Latent World Models: Diagnostics and Action-Conditioned Objectives for MPC Planning

arXiv

This is a first methodological contribution introducing diagnostic metrics and an augmented architecture for latent world models in MPC planning, with experiments showing improved convergence and success rates, but lacking peer review and evaluation on established benchmarks.