FIRM-WM: State-factorized factual-interventional recurrent modeling for reward-free visual planning
FMM-WM (Factual--Interventional Recurrent World Model), a compact pixel world model designed around a typed, goal--comparable configuration from a 128-dimensional dynamic fiber used for prediction but excluded from the terminal goal cost, is introduced.
Yi-Lun Wu, Yun-Jian Zhang, Ao Li et al.
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