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RT Haiyu Wu: Locally straightening the latent trajectory can largely reduce the optimization difficulty of world model planning! Sounds confusing? Not…
RT Haiyu WuLocally straightening the latent trajectory can largely reduce the optimization difficulty of world model planning!Sounds confusing? Not sure how to achieve it? Don't worry.After the math derivation, the final implementation is very simple: increasing the cosine similarity between adjacent velocity vectors.L