潜在世界モデルは潜在多様体に沿った距離で計画すべき
Latent World Models Should Plan with Distances Along the Latent Manifold
潜在世界モデルの計画コストを、ユークリッド距離ではなく訓練潜在上の近傍グラフによる最短経路距離に置き換えるNGCを提案し、再学習なしで計画成功率を大幅に改善した。
著者: Zunzhi You, Linwei Tao, Siyu Xu, Yunke Wang, Chang Xu
分類: cs.LG, cs.RO
原文アブストラクト
Latent world models such as LeWM plan by searching for an action sequence whose predicted terminal latent is closest to the goal latent under an ambient norm, such as the Euclidean distance. Planning with such a cost assumes that proximity in the ambient latent space reflects proximity to the goal in the environment. Studying LeWM, we find that this assumption holds only in a small neighborhood around the goal, whereas farther away the L2 cost forms spurious low-cost basins that trap the planner. Yet neighborhood-based embeddings show that the latents retain the underlying physical state. We therefore hypothesize that the latents lie near a curved, low-dimensional manifold, and that the terminal cost should measure the distance along this latent manifold rather than through the ambient space. To estimate this manifold distance, we propose the Neighborhood Graph Cost (NGC), which computes shortest-path distances on a mutual nearest-neighbor graph constructed over training latents. NGC changes only the terminal cost and requires no retraining. This single change improves the planning success rate of LeWM across all four benchmark tasks and nearly solves TwoRoom and Reacher: even at the farthest goal offsets tested, NGC reaches 95% and 100% success, whereas the L2 cost falls to 27% and 81%. These results support the manifold hypothesis and our argument that latent world models should plan with distances along the latent manifold.