Semantic latent spaces from pretrained encoders outperform reconstruction-based spaces for robotic world models on planning and downstream policy performance.
Score-based generative modeling in latent space.Advances in neural information processing systems , 34:11287–11302, 2021
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Reconstruction or Semantics? What Makes a Latent Space Useful for Robotic World Models
Semantic latent spaces from pretrained encoders outperform reconstruction-based spaces for robotic world models on planning and downstream policy performance.