Authors

Xiantong Zhen

Publications 2

Preprint Open access

Action-Consequence Alignment for Reliable Planning and Self-Improving in Latent World Models

Jinping Wang, Zhiqiang Gao, Xiantong Zhen et al. · 2026

Latent world models learn to predict observed transitions, yet low prediction error alone does not guarantee reliable planning. Inspired by self tickling experiments in neuroscience showing that disrupting motor sensory correspondence increases prediction mismatch, we examine whether learned world models preserve an an …

Preprint Open access

Beyond One-Step Accuracy: State-Affine Latent Transition for Reliable Visual Planning

Boyuan Zhang, Yingjun Du, Xiantong Zhen et al. · 2026

Joint-embedding world models enable visual planning by learning action-conditioned dynamics in latent space. Yet they are commonly trained for one-step prediction on encoded states, while planning recursively applies the learned transition to its own predictions. One-step accuracy therefore does not capture how predict …

Co-authors