PRISM derives a state-conditioned action prior from a world model's encoder and integrates it into sampling-based planning via product-of-Gaussians fusion, claiming 35 and 32 percentage point gains on Cube and PushT tasks.
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PRISM: PRior-guided Imagination Sampling in world Models
PRISM derives a state-conditioned action prior from a world model's encoder and integrates it into sampling-based planning via product-of-Gaussians fusion, claiming 35 and 32 percentage point gains on Cube and PushT tasks.