Learning task-agnostic dynamics models in high-dimensional observation spaces can be challenging for model-based RL agents. We propose a novel way to learn latent world models by learning to predict sequences of future actions conditioned on task completion. These task-conditioned models adaptively focus modeling capacity on task-relevant dynamics, while simultaneously serving as an effective heuristic for planning with sparse rewards. We evaluate our method on challenging visual goal completion tasks and show a substantial increase in performance compared to prior model-free approaches.
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