论文检索

General Machine Learning · Representation Learning

Yang Liu, Daxuan Ren, Yijie Ding, Jianmin Zheng, Fang Deng

This paper presents PartCAD, a novel framework for reconstructing CAD modeling sequences directly from point clouds by projection-guided, part-aware geometry reasoning. It consists of (1) an autoregressive approach that decomposes point clouds into part-aware latent representations, serving as interpretable anchors for CAD generation; (2) a projection guidance module that provides explicit cues about underlying design intent via triplane projections; and (3) a non-autoregressive decoder to generate sketch-extrusion parameters in a single forward pass, enabling efficient and structurally coherent CAD instruction synthesis. By bridging geometric signals and semantic understanding, PartCAD tackles the challenge of reconstructing editable CAD models—capturing underlying design processes—from 3D point clouds. Extensive experiments show that PartCAD significantly outperforms existing methods for CAD instruction generation in both accuracy and robustness. The work sheds light on part-driven reconstruction of interpretable CAD models, opening new avenues in reverse engineering and CAD automation.

Tingting Dan, Zhihao Fan, Guorong Wu

Alzheimer’s disease (AD) is marked by cognitive decline along with the widespread of tau aggregates across the brain cortex. Due to the challenges of imaging pathology spreading flows *in vivo*, however, quantitative analysis on the cortical pathways of tau propagation and its interaction with the cascade of amyloid-beta (A$\beta$) plaques lags behind the experimental insights of underlying pathophysiological mechanisms. To address this challenge, we present a physics-informed neural network, empowered by mean-field theory, to uncover the biologically meaningful spreading pathways of tau aggregates between two longitudinal snapshots. Following the notion of `prion-like' mechanism in AD, we first formulate the dynamics of tau propagation as a mean-field game (MFG), where the spread of tau aggregate at each location (aka. agent) depends on the collective behavior of the surrounding agents as well as the potential field formed by amyloid burden. Given the governing equation of propagation dynamics, MFG reaches an equilibrium that allows us to model the evolution of tau aggregates as an optimal transport with the lowest cost in *Wasserstein* space. By leveraging the variational primal-dual structure in MFG, we propose a *Wasserstein*-1 Lagrangian generative adversarial network (GAN), in which a Lipschitz critic seeks the appropriate transport cost at the population level and a generator parameterizes the flow fields of optimal transport across individuals. Additionally, we incorporate a symbolic regression module to derive an explicit formulation capturing the A$\beta$-tau crosstalk. Experimental results on public neuroimaging datasets demonstrate that our explainable deep model not only yields precise and reliable predictions of future tau progression for unseen new subjects but also provides a new window to uncover new understanding of pathology propagation in AD through learning-based approaches.

Yiyou Sun, Shawn Hu, Georgia Zhou, Ken Zheng, Hanna Hajishirzi, Nouha Dziri, Dawn Song

Recent large language models (LLMs) with long-chain-of-thought reasoning—such as DeepSeek-R1—have achieved impressive results on Olympiad-level mathematics benchmarks. However, they often rely on a narrow set of strategies and struggle with problems that require a novel way of thinking. To systematically investigate these limitations, we introduce OMEGA—Out-of-distribution Math Problems Evaluation with 3 Generalization Axes—a controlled yet diverse bench- mark designed to evaluate three axes of out-of-distribution generalization, inspired by Boden’s typology of creativity: (1) Exploratory—applying known problem- solving skills to more complex instances within the same problem domain; (2) Com- positional—combining distinct reasoning skills, previously learned in isolation, to solve novel problems that require integrating these skills in new and coherent ways; and (3) Transformative—adopting novel, often unconventional strategies by moving beyond familiar approaches to solve problems more effectively. OMEGA consists of programmatically generated training–test pairs derived from templated problem generators across geometry, number theory, algebra, combinatorics, logic, and puzzles, with solutions verified using symbolic, numerical, or graphical methods. We evaluate frontier (or top-tier) LLMs and observe sharp performance degradation as problem complexity increases. Moreover, we fine-tune the Qwen-series models across all generalization settings and observe notable improvements in exploratory generalization, while compositional generalization remains limited, and transformative reasoning shows little to no improvement. By isolating and quantifying these fine-grained failures, OMEGA lays the groundwork for advancing LLMs toward genuine mathematical creativity beyond mechanical proficiency. Our code and dataset are available at https://github.com/sunblaze-ucb/omega.

Applications · Physics

Rishal Aggarwal, Jacky Chen, Nicholas Boffi, David Koes

Efficient sampling from the Boltzmann distribution given its energy function is a key challenge for modeling complex physical systems such as molecules. Boltzmann Generators address this problem by leveraging continuous normalizing flows to transform a simple prior into a distribution that can be reweighted to match the target using sample likelihoods. Despite the elegance of this approach, obtaining these likelihoods requires computing costly Jacobians during integration, which is impractical for large molecular systems. To overcome this difficulty, we train an energy-based model (EBM) to approximate likelihoods using both noise contrastive estimation (NCE) and score matching, which we show outperforms the use of either objective in isolation. On 2D synthetic systems where failure can be easily visualized, NCE improves mode weighting relative to score matching alone. On alanine dipeptide, our method yields free energy profiles and energy distributions that closely match those obtained using exact likelihoods while achieving $100\times$ faster inference. By training on multiple dipeptide systems, we show that our approach also exhibits effective transfer learning, generalizing to new systems at inference time and achieving at least a $6\times$ speedup over standard MD with only a bit of fine-tuning. While many recent efforts in generative modeling have prioritized models with fast sampling, our work demonstrates the design of models with accelerated likelihoods, enabling the application of reweighting schemes that ensure unbiased Boltzmann statistics at scale. Our code is available at https://github.com/RishalAggarwal/BoltzNCE.

Applications · Genetics, Cell Biology, etc

Yan Wu, Esther Wershof, Sebastian Schmon, Marcel Nassar, Błażej Osiński, Ridvan Eksi, Zichao Yan, Rory Stark, Kun Zhang, Thore Graepel

We introduce a comprehensive framework for modeling single cell transcriptomic responses to perturbations, aimed at standardizing benchmarking in this rapidly evolving field. Our approach includes a modular and user-friendly model development and evaluation platform, a collection of diverse perturbational datasets, and a set of metrics designed to fairly compare models and dissect their performance. Through extensive evaluation of both published and baseline models across diverse datasets, we highlight the limitations of widely used models, such as mode collapse. We also demonstrate the importance of rank metrics which complement traditional model fit measures, such as RMSE, for validating model effectiveness. Notably, our results show that while no single model architecture clearly outperforms others, simpler architectures are generally competitive and scale well with larger datasets. Overall, this benchmarking exercise sets new standards for model evaluation, supports robust model development, and furthers the use of these models to simulate genetic and chemical screens for therapeutic discovery.

Probabilistic Methods · Bayesian Models and Methods

Laurence Davies, Daniel MacKinlay, Rafael Oliveira, Scott SIsson

The expressiveness of flow-based models combined with stochastic variational inference (SVI) has expanded the application of optimization-based Bayesian inference to highly complex problems. However, despite the importance of multi-model Bayesian inference, defined over a transdimensional joint model and parameter space, flow-based SVI has been limited to problems defined over a fixed-dimensional parameter space. We introduce CoSMIC normalizing flows (COntextually-Specified Masking for Identity-mapped Components), an extension to neural autoregressive conditional normalizing flow architectures that enables use of a single amortized variational density for inference over a transdimensional (multi-model) conditional target distribution. We propose a combined stochastic variational transdimensional inference (VTI) approach to training CoSMIC flows using ideas from Bayesian optimization and Monte Carlo gradient estimation. Numerical experiments show the performance of VTI on challenging problems that scale to high-cardinality model spaces.

Applications · Language, Speech and Dialog

Weizhe Yuan, Jane Yu, Song Jiang, Karthik Padthe, Yang Li, Dong Wang, Ilia Kulikov, Kyunghyun Cho, Yuandong Tian, Jason Weston 等

Scaling reasoning capabilities beyond traditional domains such as math and coding is hindered by the lack of diverse and high-quality questions. To overcome this limitation, we introduce a scalable approach for generating diverse and challenging reasoning questions, accompanied by reference answers. We present NaturalReasoning, a comprehensive dataset comprising 2.8 million questions that span multiple domains, including STEM fields (e.g., Physics, Computer Science), Economics, Social Sciences, and more. We demonstrate the utility of the questions in NaturalReasoning through knowledge distillation experiments which show that NaturalReasoning can effectively elicit and transfer reasoning capabilities from a strong teacher model. Furthermore, we demonstrate that NaturalReasoning is also effective for unsupervised self-training using external reward models or self-rewarding.

Computer Vision · Vision Models & Multimodal

Xue-Feng Zhu, Tianyang Xu, Yifan Pan, Jinjie Gu, Xi Li, Jiwen Lu, Xiaojun Wu, Josef Kittler

Existing multi-modal object tracking approaches primarily focus on dual-modal paradigms, such as RGB-Depth or RGB-Thermal, yet remain challenged in complex scenarios due to limited input modalities. To address this gap, this work introduces a novel multi-modal tracking task that leverages three complementary modalities, including visible RGB, Depth (D), and Thermal Infrared (TIR), aiming to enhance robustness in complex scenarios. To support this task, we construct a new multi-modal tracking dataset, coined RGBDT500, which consists of 500 videos with synchronised frames across the three modalities. Each frame provides spatially aligned RGB, depth, and thermal infrared images with precise object bounding box annotations.Furthermore, we propose a novel multi-modal tracker, dubbed RDTTrack.RDTTrack integrates tri-modal information for robust tracking by leveraging a pretrained RGB-only tracking model and prompt learning techniques.In specific, RDTTrack fuses thermal infrared and depth modalities under a proposed orthogonal projection constraint, then integrates them with RGB signals as prompts for the pre-trained foundation tracking model, effectively harmonising tri-modal complementary cues.The experimental results demonstrate the effectiveness and advantages of the proposed method, showing significant improvements over existing dual-modal approaches in terms of tracking accuracy and robustness in complex scenarios. The dataset and source code are publicly available at https://xuefeng-zhu5.github.io/RGBDT500.

Applications

Eshika Saxena, Alberto Alfarano, Francois Charton, Emily Wenger, Kristin E. Lauter

AI-powered attacks on Learning with Errors (LWE)—an important hard math problem in post-quantum cryptography—rival or outperform "classical" attacks on LWE under certain parameter settings. Despite the promise of this approach, a dearth of accessible data limits AI practitioners' ability to study and improve these attacks. Creating LWE data for AI model training is time- and compute-intensive and requires significant domain expertise. To fill this gap and accelerate AI research on LWE attacks, we propose the TAPAS datasets, a ${\bf t}$oolkit for ${\bf a}$nalysis of ${\bf p}$ost-quantum cryptography using ${\bf A}$I ${\bf s}$ystems. These datasets cover several LWE settings and can be used off-the-shelf by AI practitioners to prototype new approaches to cracking LWE. This work documents TAPAS dataset creation, establishes attack performance baselines, and lays out directions for future work.

Data-centric AI · Everything Else

Zailong Tian, Zhuoheng Han, Houfeng Wang, Lizi Liao

Spreadsheets are widely used for data analysis and reporting, yet their complex structure and formula logic pose significant challenges for AI systems. We introduce Sheetpedia, a large-scale corpus of over 290,000 diverse spreadsheets (from 324,000+ workbooks) compiled from enterprise email archives and online forums. We detail a rigorous collection and preprocessing pipeline (integrating the Enron email spreadsheet archive and the Fuse web corpus, plus a new crawl of Excel forums) to standardize formats, filter languages, and remove duplicates. Sheetpedia provides extensive coverage of real formulas and annotations – addressing a gap left by prior table datasets (e.g. web tables used in TURL or Text-to-SQL in Spider) which often lack formula semantics. We present comprehensive corpus statistics, highlighting rich formula diversity and a majority (78\%+) of English content. To demonstrate the corpus’s utility, we fine-tune large language models on Sheetpedia for two novel spreadsheet understanding tasks: Natural Language to Semantic Range (NL2SR) and Natural Language to Formula (NL2Formula). Using a rejection-sampling data generation strategy, our fine-tuned models achieve up to 97.5\% accuracy on NL2SR and 71.7\% on NL2Formula – substantially outperforming baseline approaches. Sheetpedia (to be released publicly) fills a crucial need for a large, high-quality spreadsheet benchmark, enabling more effective spreadsheet intelligence and natural language interfaces for spreadsheet tools.

Hua Shen, Tiffany Knearem, Reshmi Ghosh, Kenan Alkiek, Kundan Krishna, Liu Yachuan, Savvas Petridis, Yi-Hao Peng, Li Qiwei, Chenglei Si 等

Recent advances in general-purpose AI underscore the urgent need to align AI systems with human goals and values. Yet, the lack of a clear, shared understanding of what constitutes "alignment" limits meaningful progress and cross-disciplinary collaboration. In this position paper, we argue that the research community should explicitly define and critically reflect on "alignment" to account for the bidirectional and dynamic relationship between humans and AI. Through a systematic review of over 400 papers spanning HCI, NLP, ML, and more, we examine how alignment is currently defined and operationalized. Building on this analysis, we introduce the Bidirectional Human-AI Alignment framework, which not only incorporates traditional efforts to align AI with human values but also introduces the critical, underexplored dimension of aligning humans with AI – supporting cognitive, behavioral, and societal adaptation to rapidly advancing AI technologies. Our findings reveal significant gaps in current literature, especially in long-term interaction design, human value modeling, and mutual understanding. We conclude with three central challenges and actionable recommendations to guide future research toward more nuanced, reciprocal, and human-AI alignment approaches.

Theory · Learning Theory

Alberto González-Sanz, François Bachoc, Jean-Michel Loubes, Louis Béthune

The distribution regression problem encompasses many important statistics and machine learning tasks, and arises in a large range of applications. Among various existing approaches to tackle this problem, kernel methods have become a method of choice. Indeed, kernel distribution regression is both computationally favorable, and supported by a recent learning theory. This theory also tackles the two-stage sampling setting, where only samples from the input distributions are available. In this paper, we improve the learning theory of kernel distribution regression. We address kernels based on Hilbertian embeddings, that encompass most, if not all, of the existing approaches. We introduce the novel near-unbiased condition on the Hilbertian embeddings, that enables us to provide new error bounds on the effect of the two-stage sampling, thanks to a new analysis. We show that this near-unbiased condition holds for three important classes of kernels, based on optimal transport and mean embedding. As a consequence, we strictly improve the existing convergence rates for these kernels. Our setting and results are illustrated by numerical experiments.

Computer Vision · Vision Models & Multimodal

Chao Su, Likang Peng, Yuan Sun, Dezhong Peng, Xi Peng, Xu Wang

Cross-modal hashing aims to efficiently retrieve information across different modalities by mapping data into compact hash codes. However, most existing methods assume access to fully accurate supervision, which rarely holds in real-world scenarios. In fact, annotations are often redundant, i.e., each sample is associated with a set of candidate labels that includes both ground-truth labels and redundant noisy labels. Treating all annotated labels as equally valid introduces two critical issues: (1) the sparse presence of true labels within the label set is not explicitly addressed, leading to overfitting on redundant noisy annotations; (2) redundant noisy labels induce spurious similarities that distort semantic alignment across modalities and degrade the quality of the hash space. To address these challenges, we propose that effective cross-modal hashing requires explicitly identifying and leveraging the true label subset within all annotations. Based on this insight, we present Neighbor-aware Contrastive Disambiguation (NACD), a novel framework designed for robust learning under redundant supervision. NACD consists of two key components. The first, Neighbor-aware Confidence Reconstruction (NACR), refines label confidence by aggregating information from cross-modal neighbors to distinguish true labels from redundant noisy ones. The second, Class-aware Robust Contrastive Hashing (CRCH), constructs reliable positive and negative pairs based on label confidence scores, thereby significantly enhancing robustness against noisy supervision. Moreover, to effectively reduce the quantization error, we incorporate a quantization loss that enforces binary constraints on the learned hash representations. Extensive experiments conducted on three large-scale multimodal benchmarks demonstrate that our method consistently outperforms state-of-the-art approaches, thereby establishing a new standard for cross-modal hashing with redundant annotations. Code is available at https://github.com/Rose-bud/NACD.

Theory · Learning Theory

Maria-Florina Balcan, Anh Nguyen, Dravyansh Sharma

Modern machine learning algorithms, especially deep learning-based techniques, typically involve careful hyperparameter tuning to achieve the best performance. Despite the surge of intense interest in practical techniques like Bayesian optimization and random search-based approaches to automating this laborious and compute-intensive task, the fundamental learning-theoretic complexity of tuning hyperparameters for deep neural networks is poorly understood. Inspired by this glaring gap, we initiate the formal study of hyperparameter tuning complexity in deep learning through a recently introduced data-driven setting. We assume that we have a series of learning tasks, and we have to tune hyperparameters to do well on average over the distribution of tasks. A major difficulty is that the utility function as a function of the hyperparameter is very volatile, and furthermore, it is given implicitly by an optimization problem over the model parameters. To tackle this challenge, we introduce a new technique to characterize the discontinuities and oscillations of the utility function on any fixed problem instance as we vary the hyperparameter; our analysis relies on subtle concepts, including tools from algebraic geometry, differential geometry, and constrained optimization. We use this to show that the learning-theoretic complexity of the corresponding family of utility functions is bounded. We instantiate our results and provide sample complexity bounds for concrete applications—tuning a hyperparameter that interpolates neural activation functions and setting the kernel parameter in graph neural networks.

Computer Vision · Image and Video Generation

Xiaoxuan Gong, Jie Ma

Existing research in low-level vision has shifted its focus from "one-by-one" task-specific methods to "all-in-one" multi-task unified architectures. However, current all-in-one image restoration approaches primarily aim to improve overall performance across a limited number of tasks. In contrast, how to incrementally add new image restoration capabilities on top of an existing model — that is, task-incremental learning — has been largely unexplored. To fill this research gap, we propose a minimalistic and universal paradigm for task-incremental learning called MINI. It addresses the problem of parameter interference across different tasks through a simple yet effective mechanism, enabling nearly forgetting-free task-incremental learning. Specifically, we design a special meta-convolution called MINI-Conv, which generates parameters solely through lightweight embeddings instead of complex convolutional networks or MLPs. This not only significantly reduces the number of parameters and computational overhead but also achieves complete parameter isolation across different tasks. Moreover, MINI-Conv can be seamlessly integrated as a plug-and-play replacement for any convolutional layer within existing backbone networks, endowing them with incremental learning capabilities. Therefore, our method is highly generalizable. Finally, we demonstrate that our method achieves state-of-the-art performance compared to existing incremental learning approaches across five common image restoration tasks. Moreover, the near forgetting-free nature of our method makes it highly competitive even against all-in-one image restoration methods trained in a full-supervised manner. Our code is available at https://github.com.

Mengkang Hu, Yuhang Zhou, Wendong Fan, Yuzhou Nie, Ziyu Ye, Bowei Xia, Tao Sun, Zhaoxuan Jin, Yingru Li, Zeyu Zhang 等

Large Language Model (LLM)-based multi-agent systems show promise for automating real-world tasks but struggle to transfer across domains due to their domain-specific nature. Current approaches face two critical shortcomings: they require complete architectural redesign and full retraining of all components when applied to new domains. We introduce **Workforce**, a hierarchical multi-agent framework that decouples strategic planning from specialized execution through a modular architecture comprising: *(i)* a *domain-agnostic* **Planner** for task decomposition, *(ii)* a **Coordinator** for subtask management, and *(iii)* specialized **Workers** with *domain-specific* tool-calling capabilities. This decoupling enables cross-domain transferability during both inference and training phases: During inference, Workforce seamlessly adapts to new domains by adding or modifying worker agents; For training, we introduce **Optimized Workforce Learning (OWL)**, which improves generalization across domains by optimizing a domain-agnostic planner with reinforcement learning from real-world feedback. To validate our approach, we evaluate Workforce on the GAIA benchmark, covering various realistic, multi-domain agentic tasks. Experimental results demonstrate Workforce achieves open-source state-of-the-art performance (**69.70%**), outperforming commercial systems like OpenAI's Deep Research by **2.34%**. More notably, our OWL-trained 32B model achieves **52.73%** accuracy (**+16.37%**) and demonstrates performance comparable to GPT-4o on challenging tasks. To summarize, by enabling scalable generalization and modular domain transfer, our work establishes a foundation for the next generation of general-purpose AI assistants. *Our code is available at [Anonymous URL](https://anonymous.4open.science/r/annonymous-owl/), and our data is available at [Anonymous URL](https://huggingface.co/anonymous21016).*

Keshigeyan Chandrasegaran, Michael Poli, Dan Fu, Dongjun Kim, Lea M. Hadzic, Manling Li, Agrim Gupta, Stefano Massaroli, Azalia Mirhoseini, Juan Carlos Niebles 等

Designing model architectures requires decisions such as selecting operators (e.g., attention, convolution) and configurations (e.g., depth, width). However, evaluating the impact of these decisions on model quality requires costly pretraining, limiting architectural investigation. Inspired by how new software is built on existing code, we ask: can new architecture designs be studied using pretrained models? To this end, we present *grafting*, a simple approach for editing pretrained diffusion transformers (DiTs) to materialize new architectures under small compute budgets. Informed by our analysis of activation behavior and attention locality, we construct a testbed based on the DiT-XL/2 design to study the impact of grafting on model quality. Using this testbed, we develop a family of hybrid designs via grafting: replacing softmax attention with gated convolution, local attention, and linear attention, and replacing MLPs with variable expansion ratio and convolutional variants. Notably, many hybrid designs achieve good quality (FID: 2.38–2.64 vs. 2.27 for DiT-XL/2) using $<2$% pretraining compute. We then graft a text-to-image model (PixArt-$\Sigma$), achieving a 1.43$\times$ speedup with less than a 2% drop in GenEval score. Finally, we present a case study that restructures DiT-XL/2 by converting every pair of sequential transformer blocks into parallel blocks via grafting. This reduces model depth by 2$\times$ and yields better quality (FID: 2.77) than other models of comparable depth. Together, we show that new diffusion model designs can be explored by grafting pretrained DiTs, with edits ranging from operator replacement to architecture restructuring. Code and grafted models: https://grafting.stanford.edu.

Kevin Wang, Ishaan Javali, Michał Bortkiewicz, Tomasz Trzcinski, Benjamin Eysenbach

Scaling up self-supervised learning has driven breakthroughs in language and vision, yet comparable progress has remained elusive in reinforcement learning (RL). In this paper, we study building blocks for self-supervised RL that unlock substantial improvements in scalability, with network depth serving as a critical factor. Whereas most RL papers in recent years have relied on shallow architectures (around 2 -- 5 layers), we demonstrate that increasing the depth up to 1024 layers can significantly boost performance. Our experiments are conducted in an unsupervised goal-conditioned setting, where no demonstrations or rewards are provided, so an agent must explore (from scratch) and learn how to maximize the likelihood of reaching commanded goals. Evaluated on simulated locomotion and manipulation tasks, our approach increases performance on the self-supervised contrastive RL algorithm by $2\times$ -- $50\times$, outperforming other goal-conditioned baselines. Increasing the model depth not only increases success rates but also qualitatively changes the behaviors learned.

Mingfei Chen, Zijun Cui, Xiulong Liu, Jinlin Xiang, Yang Zheng, Jingyuan Li, Eli Shlizerman

3D spatial reasoning in dynamic, audio-visual environments is a cornerstone of human cognition yet remains largely unexplored by existing Audio-Visual Large Language Models (AV-LLMs) and benchmarks, which predominantly focus on static or 2D scenes. We introduce SAVVY-Bench, the first benchmark for 3D spatial reasoning in dynamic scenes with synchronized spatial audio. SAVVY-Bench is comprised of thousands of carefully curated question–answer pairs probing both directional and distance relationships involving static and moving objects, and requires fine-grained temporal grounding, consistent 3D localization, and multi-modal annotation. To tackle this challenge, we propose SAVVY, a novel training-free reasoning pipeline that consists of two stages: (i) Egocentric Spatial Tracks Estimation, which leverages AV-LLMs as well as other audio-visual methods to track the trajectories of key objects related to the query using both visual and spatial audio cues, and (ii) Dynamic Global Map Construction, which aggregates multi-modal queried object trajectories and converts them into a unified global dynamic map. Using the constructed map, a final QA answer is obtained through a coordinate transformation that aligns the global map with the queried viewpoint. Empirical evaluation demonstrates that SAVVY substantially enhances performance of state-of-the-art AV-LLMs, setting a new standard and stage for approaching dynamic 3D spatial reasoning in AV-LLMs.

Reinforcement Learning · Deep RL

Carlos Stein Brito, Daniel McNamee

Learned control policies often fail when deployed in real-world environments with changing dynamics. When system dynamics shift unexpectedly, performance degrades until models are retrained on new data. We introduce Reflexive World Models (RWM), a dual control framework that uses world model predictions as implicit reference trajectories for rapid adaptation. Our method separates the control problem into long-term reward maximization through reinforcement learning and robust motor execution through reward-free rapid control in latent space. This dual architecture achieves significantly faster adaptation with low online computational cost compared to model-based RL baselines, while maintaining near-optimal performance. The approach combines the benefits of flexible policy learning through reinforcement learning with rapid error correction capabilities, providing a theoretically grounded method for maintaining performance in high-dimensional continuous control tasks under varying dynamics.