Author

Om Naphade

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#artificial intelligence Preprint Sep 2026

LePlanner: An Iterative Amortized Controller For World Models

LePlanner is an amortized iterative controller that learns to construct and refine latent action sequences through a frozen world-model predictor, enabling fast, horizon-aware, nonlinear physical control without online optimization.

Saksham Bansal, Om Naphade, Chayan Aggarwal et al. · 0 citations