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Ning Ning

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#machine learning Preprint Sep 2026

Control-Geometry Straightening for Sampling-Based Latent Planning

Joint-embedding predictive architectures enable planning with latent world models, but accurate transition prediction alone does not ensure that the planning objective is easy to optimize. We introduce Control-Geometry Straightening (CGS), a single auxiliary loss that learns planner-friendly representations by directly...

Zi-Lai Fu, Ning Ning · 0 citations