ACID improves decision-time planning in world models by adding per-step action consistency residuals from an inverse dynamics model to the planning cost via an adaptive weight, yielding better performance with less compute across manipulation and navigation tasks.
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ACID: Action Consistency via Inverse Dynamics for Planning with World Models
ACID improves decision-time planning in world models by adding per-step action consistency residuals from an inverse dynamics model to the planning cost via an adaptive weight, yielding better performance with less compute across manipulation and navigation tasks.