どれだけ近いかではなく、あとどれだけか：潜在世界モデルの計画のための学習型時間距離指標

原文アブストラクト

Latent world models plan by rolling a frozen predictor forward under candidate action sequences and ranking the candidates by the latent distance between their imagined end state and the goal. However, this ranking breaks down when the goal lies several plans away, because the latent distance measures how closely an end state resembles the goal rather than how far it remains from reaching it. To address this, we propose TEMPO, a temporal-distance planning objective that leaves the world model untouched, learns only from the demonstrations already used to train it, and adds negligible cost to the planner's search. TEMPO learns a small map of the frozen latent in which the distance between two states of an episode reflects the number of environment steps between them, and blends this distance into the planner's cost. It requires no rewards, policies or success labels and, being a cost rather than a model, applies to frozen world models with one latent vector per state that plan by a latent distance. We evaluate TEMPO on eleven simulated environments (e.g., maze navigation, tabletop pushing, robotic arm control and three-dimensional manipulation) with the LeWM and PLDM planners. With a small MLP that adds at most 0.3% to a plan's arithmetic, TEMPO improves both planners at every goal distance, including the one-plan setting of their evaluations, raises LeWM from 36% to 99% on TwoRoom three plans from the goal, and remains competitive on a broad range of 2D and 3D navigation, reaching and manipulation tasks.