MODEL AS WORLD POLICY (MODE 2)
REAL-TIME MOBILE MANIPULATION POLICY IN HUMAN ACTION SPACE
𝓜
4D ST-𝓜emory
𝓒ausal Modeling
𝓡eward Modeling
𝓟hysical Modeling
EvoPhys-World
5D WORLD MODEL
𝓒
𝓡
𝓟
Current Action
State Control Input a(t)
WORLD ENGINE INPUT
Future Action
Planned Steps a(t+k)
WORLD POLICY OUTPUT
Current State
Sensor Feedback s(t)
WORLD POLICY INPUT
Future State
State Prediction s(t+k)
WORLD ENGINE OUTPUT
PIPELINE STATUS: ACTIVE
SYS_LATENCY: < 1.2ms