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ACID: Action Consistency via Inverse Dynamics for Planning with World ModelsACID：通过逆向动力学进行动作一致性验证，用于世界模型规划
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- ACID is a decision-time planning framework for embodied control that uses action-conditioned world models to search over candidate action sequences.
- It adds an action consistency cost via inverse dynamics that verifies predicted trajectories are actually realizable in the environment, not just goal-optimized.
- Standard planning judges candidates only by terminal state proximity to goal; ACID additionally checks whether intermediate transitions are executable by inferring actions that would explain each predicted transition.
- ACID是用于具身控制的决策时规划框架，采用行动条件化世界模型搜索候选动作序列。
- 它通过逆向动力学添加行动一致性成本，以验证预测轨迹在环境中的实际可实现性，而非仅优化目标。
- 标准规划仅根据终端状态与目标的接近度评判，ACID额外检查中间转移的可执行性，通过推断能解释每个预测转移的动作实现。
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ACID: Action Consistency via Inverse Dynamics for Planning with World Models
2026-07-01
hf-daily-papers