6 papers
How Should World Models Be Evaluated for Embodied Decision-Making? A Decision-Making-Centric Position
Yang Yu, Shiyuan Zhang, Yifei Sheng +2
World models have become a central abstraction in modern AI. The term now refers to several different objects: action-conditioned environment models, latent imagination models, fut…
ReinVBC: A Model-based Reinforcement Learning Approach to Vehicle Braking Controller
Haoxin Lin, Junjie Zhou, Daheng Xu +1
Braking system, the key module to ensure the safety and steer-ability of current vehicles, relies on extensive manual calibration during production. Reducing labor and time consump…
Speedup Patch: Learning a Plug-and-Play Policy to Accelerate Embodied Manipulation
Zhichao Wu, Junyin Ye, Zhilong Zhang +6
While current embodied policies exhibit remarkable manipulation skills, their execution remains unsatisfactorily slow as they inherit the tardy pacing of human demonstrations. Exis…
Towards Practical World Model-based Reinforcement Learning for Vision-Language-Action Models
Zhilong Zhang, Haoxiang Ren, Yihao Sun +6
Vision-Language-Action (VLA) models show strong generalization for robotic control, but finetuning them with reinforcement learning (RL) is constrained by the high cost and safety…
WHALE: Towards Generalizable and Scalable World Models for Embodied Decision-making
Zhilong Zhang, Ruifeng Chen, Junyin Ye +8
World models play a crucial role in decision-making within embodied environments, enabling cost-free explorations that would otherwise be expensive in the real world. To facilitate…
Any-step Dynamics Model Improves Future Predictions for Online and Offline Reinforcement Learning
Haoxin Lin, Yu-Yan Xu, Yihao Sun +6
Model-based methods in reinforcement learning offer a promising approach to enhance data efficiency by facilitating policy exploration within a dynamics model. However, accurately…