World models succeed when their latent states are built to meet task-specific sufficiency constraints rather than preserving the maximum amount of information.
Learning interactive world model for object-centric reinforcement learning
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HAIC enables robust humanoid interactions with underactuated objects by predicting their dynamics from proprioceptive history and using a world model for adaptive control.
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Latent State Design for World Models under Sufficiency Constraints
World models succeed when their latent states are built to meet task-specific sufficiency constraints rather than preserving the maximum amount of information.
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HAIC: Humanoid Agile Object Interaction Control via Dynamics-Aware World Model
HAIC enables robust humanoid interactions with underactuated objects by predicting their dynamics from proprioceptive history and using a world model for adaptive control.