RAP-WAM: Learning World-Action Models through Predictive Rehearsal and Action Perturbations
Recent world action models draw on video generation priors to jointly predict future observations and robot actions. Adapting these priors to control requires determining how future predictions should guide policy learning. RAP-WAM combines predictive Rehearsal and Action Perturbations (RAP) with future-supervised quer...
Yuan-Peng He, Ce-Yao Zhang, Fang Li et al.
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