相关论文: Back to Parsimonious Latents: Learning Task-Centri…

Offline meta-reinforcement learning seeks to learn policies that generalize across related tasks from fixed datasets. Context-based methods infer a task representation from transition histories, but learning effective task representations…

Model-based planning in robotic domains is challenged by the hybrid nature of physical dynamics, where continuous motion is punctuated by discrete events such as contacts and impacts. Conventional latent world models typically employ…

Embodied action planning is a core challenge in robotics, requiring models to generate precise actions from visual observations and language instructions. While video generation world models are promising, their reliance on pixel-level…

Foundation Models (FMs) and World Models (WMs) offer complementary strengths in task generalization at different levels. In this work, we propose FOUNDER, a framework that integrates the generalizable knowledge embedded in FMs with the…

Generative world models (WMs) can now simulate worlds with striking visual realism, which naturally raises the question of whether they can endow embodied agents with predictive perception for decision making. Progress on this question has…

We introduce Latent-WAM, an efficient end-to-end autonomous driving framework that achieves strong trajectory planning through spatially-aware and dynamics-informed latent world representations. Existing world-model-based planners suffer…

To solve control problems via model-based reasoning or planning, an agent needs to know how its actions affect the state of the world. The actions an agent has at its disposal often change the state of the environment in systematic ways.…

Predictive manipulation has recently gained considerable attention in the Embodied AI community due to its potential to improve robot policy performance by leveraging predicted states. However, generating accurate future visual states of…

World models are becoming central to robotic planning and control as they enable prediction of future state transitions. Existing approaches often emphasize video generation or natural-language prediction, which are difficult to ground in…

World models, which are predictive representations of how environments evolve under actions, have become a central component of robot learning. They support policy learning, planning, simulation, evaluation, data generation, and have…

Autonomous inspection in hazardous environments requires AI agents that can interpret high-level goals and execute precise control. A key capability for such agents is spatial grounding, for example when a drone must center a detected…

While reinforcement learning from scratch has shown impressive results in solving sequential decision-making tasks with efficient simulators, real-world applications with expensive interactions require more sample-efficient agents.…

We introduce multi-task Visuo-Tactile World Models (VT-WM), which capture the physics of contact through touch reasoning. By complementing vision with tactile sensing, VT-WM better understands robot-object interactions in contact-rich…

The next generation of autonomous agents must not only learn efficiently but also act reliably and adapt their behavior in open worlds. Standard approaches typically assume fixed tasks and environments with little or no novelty, which…

A world model is an internal model that simulates how the world evolves. Given past observations and actions, it predicts the future physical state of both the embodied agent and its environment. Accurate world models are essential for…

Leading approaches in machine vision employ different architectures for different tasks, trained on costly task-specific labeled datasets. This complexity has held back progress in areas, such as robotics, where robust task-general…

We introduce Latent Particle World Model (LPWM), a self-supervised object-centric world model scaled to real-world multi-object datasets and applicable in decision-making. LPWM autonomously discovers keypoints, bounding boxes, and object…

World models are essential for autonomous robotic planning. However, the substantial computational overhead of existing dense Transformerbased models significantly hinders real-time deployment. To address this efficiency-performance…

Data-efficient learning remains a central challenge in autonomous driving due to the high cost and safety risks of large-scale real-world interaction. Although world-model-based reinforcement learning enables policy optimization through…

Planning with world models offers a powerful paradigm for robotic control. Conventional approaches train a model to predict future frames conditioned on current frames and actions, which can then be used for planning. However, the objective…