DynaWM adds a world model as dynamics regularizer and momentum targets to teacher-student distillation, yielding better terrain encoding and smoother stair traversal for bipedal-wheeled robots.
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DynaWM: Dynamics-Aware Distillation with World Model and Momentum Targets for Smooth Locomotion over Continuous Stairs
DynaWM adds a world model as dynamics regularizer and momentum targets to teacher-student distillation, yielding better terrain encoding and smoother stair traversal for bipedal-wheeled robots.