Plans Are Not Executions: Adapting Frozen World-Model Planners to Controller-Induced Execution Shift
World-model planners use a frozen model to predict future consequences based on training data, but deployment involves different controllers that execute plans differently. This creates a planning-execution gap. Directly fixing this gap by substituting predicted execution doesn't improve decisions much. ExecutionBridge is introduced to infer controller-specific execution characteristics from planned and executed trajectories, adapting the world model's latent rollout to better match actual execution while keeping the original plan intact.