SimDist pretrains world models in simulation and adapts them to real-world robots by updating only the latent dynamics model, enabling rapid improvement on contact-rich tasks where prior methods fail.
Adapting world models with latent-state dynamics residuals
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AdaJEPA performs closed-loop test-time adaptation of latent world models during MPC by executing an action chunk, observing the transition, and taking one gradient step on the model before replanning, yielding higher goal-reaching success.
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AdaJEPA: An Adaptive Latent World Model
AdaJEPA performs closed-loop test-time adaptation of latent world models during MPC by executing an action chunk, observing the transition, and taking one gradient step on the model before replanning, yielding higher goal-reaching success.