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A fixed encoder is studied in a fixed encoder and trajectory reachability metrics (TRM), a small temporal pairwise cost trained from logged trajectories and used to rank predicted endpoints of a candidate action sequence against a goal is introduced.
This work introduces Adjacent Set Action Reconstruction (ASAR), a method that identifies an adjacent set using standardized early action prefixes and reconstructs a full action sequence through locally weighted aggregation with a light anchor from the sequence with minimum cost.
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