DreamerV3's imagined rollouts are insensitive to friction changes that cause real gait collapse, revealing that world models extrapolate kinematically rather than dynamically.
Figure 4 reports the integrated iKCE under the retrained h=64actor
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Imagined Rollouts are Kinematic, Not Dynamic: A Diagnosis of Long-Horizon World-Model Failure
DreamerV3's imagined rollouts are insensitive to friction changes that cause real gait collapse, revealing that world models extrapolate kinematically rather than dynamically.