Lucid Dreaming for World Models: Learning to Doubt Imagination and Decide by Trust
Ziqi Wen, Ting Xu, Lianyu Wang, Xian Lin, Yanda Meng, Huazhu Fu, Meng Wang, Ching-Yu Cheng
arXiv (Cornell University) September 29, 2026 preprint DOI: 10.48550/arxiv.2609.37156 (opens in new tab)
Study at a glance
AI-extracted from the abstract| Characteristics | Theoretical or philosophical paper Case report |
|---|---|
| Topics | Dreaming Lucid dreaming |
| Key points | Proposes that learning doubt from experience and propagating trust through imagination improves uncertainty estimation in world models. LucidWM detects environmental changes and signals uncertainty during action-corrupted rollouts across four base world models and seventeen uncertainty readouts. In a controlled navigation case study, acting on trust reduced steps to reach the goal from 362 to 190. |
Abstract
World models enable agents to learn and plan in imagination, but predictions beyond their experience can become unreliable and mislead decisions. Existing uncertainty estimates derived from predictions can remain overconfident on unfamiliar state-action pairs. We propose the Lucid World Model (LucidWM), which learns doubt from experience and propagates trust through imagination. By integrating Subjective Logic into categorical latent transitions, LucidWM distinguishes predicted outcomes from their evidential support and assigns each transition a degree of doubt. The complement of this doubt defines transition-level trust, which accumulates multiplicatively along imagined trajectories to reweight returns for policy learning and guide action selection. Uncertainty estimation requires no additional parameters or forward passes. Evaluated on four base world models against seventeen uncertainty readouts, LucidWM detects environmental changes and signals uncertainty during action-corrupted rollouts. In a controlled navigation case study, acting on trust reduces the number of steps required to reach the goal from 362 to 190. Fifteen demonstration videos show how LucidWM doubts its dreams and acts on that doubt. Videos are available at https://lucidwm.github.io.
Comparable studies
Other theoretical and historical papers on lucid dreaming, most cited first.
| Study | Year | Design | Participants |
|---|---|---|---|
| Varieties of Lucid Dreaming Experience | 2000 | Theoretical or philosophical paper | |
| The Neurobiology of Consciousness: Lucid Dreaming Wakes Up | 2009 | Theoretical or philosophical paper | |
| What I make up when I wake up: anti-experience views and narrative fabrication of dreams | 2013 | Theoretical or philosophical paper | |
| New perspectives for the study of lucid dreaming: From brain stimulation to philosophical theories of self-consciousness | 2010 | Theoretical or philosophical paper | |
| Lucid dreaming: Evidence and methodology | 2000 | Theoretical or philosophical paper |