GRASP
grasp-c4c5feec·2 events·first seen 1mo agoAliases: GRASP
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GRASP: Gradient-based Planning for World Models at Longer Horizons
Researchers from Berkeley, Meta, and collaborators introduce GRASP, a gradient-based planner designed to make long-horizon planning with learned world models more robust. The method addresses three core failure modes: ill-conditioned computation graphs from backpropagation through time, non-greedy loss landscapes with many local minima, and brittle gradients through high-dimensional vision models. GRASP lifts trajectory optimization into virtual states for parallel optimization across time, injects stochasticity into state iterates for exploration, and reshapes gradients to avoid problematic state-input gradient paths. The work is positioned in the context of scaling world models toward general-purpose simulators usable for control and planning.
GRASP: Plan-Guided Graph Retrieval with Adaptive Fusion and Reranking on Semi-Structured Knowledge Bases
GRASP is a three-stage retrieval framework for semi-structured knowledge bases (SKBs) that combines plan-based graph retrieval, plan-conditioned dense retrieval fusion, and a fine-tuned reranker. It targets applications like product search, academic search, and precision medicine over typed entity-relation graphs. Evaluated on the STaRK benchmarks, GRASP advances average Hit@1 from 62.0 to 73.9, representing a substantial improvement over prior hybrid retrieval systems. Ablation studies confirm the contribution of each component.