ACID: Action Consistency via Inverse Dynamics for Planning with World Models

arXiv:2607.02403v1 Announce Type: new Abstract: Decision-time planning with action-conditioned world models has become a popular paradigm for embodied control. However, the standard planning cost judges a candidate solely by how close its predicted terminal state lies to the goal, leaving the realizability of the intermediate transitions unchecked -- a predicted trajectory can look convincing while the environment rollout drifts away from it. In this paper, we propose ACID, a decision-time plann...