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cs.RO2026
ActSWM: Action-Sensitive World Models for Long-Horizon Planning in Open-World Games
Zhenfeng Gan, ZiTong Zeng, Jiajun Cheng +3
Latent world models support efficient model-predictive control by optimizing future control sequences in latent space and replanning in a receding-horizon manner. However, existing…
cs.RO2026
OVAL: Open-Vocabulary Augmented Memory Model for Lifelong Object Goal Navigation
Jiahua Pei, Yi Liu, Guoping Pan +3
Object Goal Navigation (ObjectNav) refers to an agent navigating to an object in an unseen environment, which is an ability often required in the accomplishment of complex tasks. W…
cs.RO2024
FOSP: Fine-tuning Offline Safe Policy through World Models
Chenyang Cao, Yucheng Xin, Silang Wu +4
Offline Safe Reinforcement Learning (RL) seeks to address safety constraints by learning from static datasets and restricting exploration. However, these approaches heavily rely on…