A morphologically equivariant flow matching policy for bimanual robots enforces reflective symmetry to improve sample efficiency and enable zero-shot generalization to mirrored task configurations.
Ms- ppo: Morphological-symmetry-equivariant policy for legged robot locomotion
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Morphology-conditioned quadrupedal world model enables zero-shot generalization to new robot embodiments for locomotion tasks.
WestWorld introduces a scalable trajectory world model with Sys-MoE routing via system embeddings and structural embeddings for physical knowledge, pretrained on 89 environments to improve zero-shot prediction and real-robot control.
citing papers explorer
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Morphologically Equivariant Flow Matching for Bimanual Mobile Manipulation
A morphologically equivariant flow matching policy for bimanual robots enforces reflective symmetry to improve sample efficiency and enable zero-shot generalization to mirrored task configurations.
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Toward Hardware-Agnostic Quadrupedal World Models via Morphology Conditioning
Morphology-conditioned quadrupedal world model enables zero-shot generalization to new robot embodiments for locomotion tasks.
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WestWorld: A Knowledge-Encoded Scalable Trajectory World Model for Diverse Robotic Systems
WestWorld introduces a scalable trajectory world model with Sys-MoE routing via system embeddings and structural embeddings for physical knowledge, pretrained on 89 environments to improve zero-shot prediction and real-robot control.