Affordances Enable Partial World Modeling with LLMs

• URL: http://arxiv.org/abs/2602.10390v1
• Date: Wed, 11 Feb 2026 00:25:25 GMT
• Title: Affordances Enable Partial World Modeling with LLMs
• Authors: Khimya Khetarpal, Gheorghe Comanici, Jonathan Richens, Jeremy Shar, Fei Xia, Laurent Orseau, Aleksandra Faust, Doina Precup,
• Abstract summary: We show that agents achieving task-agnostic, language-conditioned intents possess predictive partial-world models informed by affordances.<n>In the multi-task setting, we introduce distribution-robust affordances and show that partial models can be extracted to significantly improve search efficiency.
• Score: 68.52975612311575
• License: http://creativecommons.org/licenses/by/4.0/
• Abstract: Full models of the world require complex knowledge of immense detail. While pre-trained large models have been hypothesized to contain similar knowledge due to extensive pre-training on vast amounts of internet scale data, using them directly in a search procedure is inefficient and inaccurate. Conversely, partial models focus on making high quality predictions for a subset of state and actions: those linked through affordances that achieve user intents~\citep{khetarpal2020can}. Can we posit large models as partial world models? We provide a formal answer to this question, proving that agents achieving task-agnostic, language-conditioned intents necessarily possess predictive partial-world models informed by affordances. In the multi-task setting, we introduce distribution-robust affordances and show that partial models can be extracted to significantly improve search efficiency. Empirical evaluations in tabletop robotics tasks demonstrate that our affordance-aware partial models reduce the search branching factor and achieve higher rewards compared to full world models.

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