DreamerV3's imagined rollouts are insensitive to friction changes that cause real gait collapse, revealing that world models extrapolate kinematically rather than dynamically.
For the gait view,ˆx t stacks the unit-circle embedding(cosθ j,sinθ j)of each walker joint angle, andkin(·)applies one-step extrapola- tion per joint
1 Pith paper cite this work. Polarity classification is still indexing.
1
Pith paper citing it
fields
cs.RO 1years
2026 1verdicts
CONDITIONAL 1representative citing papers
citing papers explorer
-
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.