World Action Critic (WAC) Model: Joint Foresight and Criticism for Policy Learning

arXiv:2610.22825v1 Announce Type: new Abstract: World models have shown considerable promise in sequential decision-making by anticipating the consequences of actions and providing predictive foresight for policy learning. However, learning to reason about counterfactual actions remains challenging, since predictive objectives may underemphasize information critical for action evaluation, while unexecuted actions lack observed futures for direct supervision. To address these challenges, we propose the World Action Critic (WAC) Model, which proposes multimodal action candidates and jointly lear

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