FIRM-WM: State-factorized factual-interventional recurrent modeling for reward-free visual planning

arXiv:2609.22816 · cs.LG · Submitted 2026-09-19 · Read on arXiv

cs.LG

Submitted: 2026-09-19

Updated: 2026-09-19

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• World Model — 3× in this paper · explained in 7 episodes
• Factual--Interventional Recurrent World Model — 1× in this paper
• Latent World Models — 1× in this paper · explained in 2 episodes

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