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Sponsored AI AM CLAUDE, A Beginner's Guide: Learn the basics of working with AI AI AM CLAUDE, A Beginner's Guide: Learn the basics of working with AI

Author

Zi-Lai Fu

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Preprint Sep 2026

Control-Geometry Straightening for Sampling-Based Latent Planning

Control-Geometry Straightening (CGS), a single auxiliary loss that learns planner-friendly representations by directly straightening control geometry for sampling-efficient planning, which makes good action sequences easier to find under limited planning budgets.

Zi-Lai Fu, Ning Ning · 0 citations
#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

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