RLA-WM predicts residual latent actions via flow matching to create visual feature world models that outperform prior feature-based and diffusion approaches while enabling offline video-based robot RL.
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Robotic world model: A neural network simulator for robust policy optimization in robotics.arXiv preprint arXiv:2501.10100, 2025a
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Action Images turn robot arm motions into interpretable multiview pixel videos, letting video backbones serve as zero-shot policies for end-to-end robot learning.
Target-Bench shows the best off-the-shelf video world model scores only 0.341 on semantic target-approaching and directional consistency, with fine-tuning on a small robot dataset yielding measurable gains.
FADA is a three-stage Planner-IDM method that achieves few-shot domain adaptation for humanoid control by distilling an oracle policy then finetuning only the IDM on short target-domain rollouts via supervised learning.
Asymmetric physics (high-fidelity non-diff simulator plus differentiable surrogates) enables end-to-end training of decentralized vision-based policies for up to 512 quadrupeds that transfer zero-shot to real hardware.
QOED selects identifiable parameter directions via Fisher matrix eigenspace analysis and modifies exploration objectives to approximate ideal information gain under bounded nuisance assumptions, yielding 21-35% performance gains in robotic tasks.
Hi-WM uses human interventions inside an action-conditioned world model with rollback and branching to generate dense corrective data, raising real-world success by 37.9 points on average across three manipulation tasks.
Tempered sequential Monte Carlo samples from a Boltzmann-tilted distribution over controllers to optimize trajectories and policies under differentiable dynamics.
Morphology-conditioned quadrupedal world model enables zero-shot generalization to new robot embodiments for locomotion tasks.
World models enable efficient AI planning but create risks from adversarial corruption, goal misgeneralization, and human bias, demonstrated via attacks that amplify errors and reduce rewards on models like RSSM and DreamerV3.
HAIC enables robust humanoid interactions with underactuated objects by predicting their dynamics from proprioceptive history and using a world model for adaptive control.
RISE combines a controllable dynamics model and progress value model into a closed-loop self-improving pipeline that updates robot policies entirely in imagination, reporting over 35% absolute gains on three real-world tasks.
Survey organizing world models for robotic manipulation into representation families, a functional taxonomy, and infrastructure roles across pretraining, post-training, and inference, while reviewing 34 datasets and evaluation protocols.
ResDreamer proposes a residual-reconstruction hierarchical world model for purely self-supervised visual foresight that claims SOTA sample and parameter efficiency in open-world RL.
Cortex 2.0 introduces world-model-based planning that generates and scores future trajectories to outperform reactive vision-language-action baselines on industrial robotic tasks including pick-and-place, sorting, and unpacking.
SplitAdapter factorizes adaptation into load-aware and dynamics-aware encoders using split world-model objectives, GRL regularization, and hierarchical FiLM, reporting higher full-task success than baselines across 2-6 kg masses and 0-60 cm heights.
The paper delivers a multi-axis taxonomy for world models that maps architectures, training families, reasoning strategies, and domains from early cognitive foundations through systems such as Dreamer, MuZero, and Sora while noting evaluation gaps.
A literature survey summarizing modeling, state estimation, control methods, applications, and open challenges for legged robots operating in non-inertial environments where the ground moves or accelerates.
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Self-supervised Hierarchical Visual Reasoning with World Model
ResDreamer proposes a residual-reconstruction hierarchical world model for purely self-supervised visual foresight that claims SOTA sample and parameter efficiency in open-world RL.