QWM thread: why morphology specs should go through a learned dynamics model, not model-free policies
breadli428 · x · 2026-10-10
Thread opener for Quadrupedal World Model (QWM): given a formalized morphology specification, a controller for a family of robots can either feed it to a model-free policy or feed it to a learned dynamics model and extract the policy in imagination. The authors argue for the latter, which motivates QWM's design.
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