惯性聚合 高效追踪和阅读你感兴趣的博客、新闻、科技资讯
阅读原文 在惯性聚合中打开

推荐订阅源

Y
Y Combinator Blog
D
Docker
有赞技术团队
有赞技术团队
D
DataBreaches.Net
The GitHub Blog
The GitHub Blog
爱范儿
爱范儿
H
Help Net Security
美团技术团队
MyScale Blog
MyScale Blog
B
Blog RSS Feed
C
Check Point Blog
Microsoft Security Blog
Microsoft Security Blog
阮一峰的网络日志
阮一峰的网络日志
A
About on SuperTechFans
小众软件
小众软件
Cyber Security Advisories - MS-ISAC
Cyber Security Advisories - MS-ISAC
GbyAI
GbyAI
G
Google Developers Blog
月光博客
月光博客
Google DeepMind News
Google DeepMind News
H
Hackread – Cybersecurity News, Data Breaches, AI and More
Blog — PlanetScale
Blog — PlanetScale
MongoDB | Blog
MongoDB | Blog
F
Fortinet All Blogs

cs.RO updates on arXiv.org

FineCog-Nav: Integrating Fine-grained Cognitive Modules for Zero-shot Multimodal UAV Navigation DENALI: A Dataset Enabling Non-Line-of-Sight Spatial Reasoning with Low-Cost LiDARs SENSE: Stereo OpEN Vocabulary SEmantic Segmentation Continual Hand-Eye Calibration for Open-world Robotic Manipulation PLAF: Pixel-wise Language-Aligned Feature Extraction for Efficient 3D Scene Understanding GaussianFlow SLAM: Monocular Gaussian Splatting SLAM Guided by GaussianFlow GIST: Multimodal Knowledge Extraction and Spatial Grounding via Intelligent Semantic Topology $π_{0.7}$: a Steerable Generalist Robotic Foundation Model with Emergent Capabilities R3D: Revisiting 3D Policy Learning Vision-Based Safe Human-Robot Collaboration with Uncertainty Guarantees Benchmarking Classical Coverage Path Planning Heuristics on Irregular Hexagonal Grids for Maritime Coverage Scenarios NEAT-NC: NEAT guided Navigation Cells for Robot Path Planning HRDexDB: A Large-Scale Dataset of Dexterous Human and Robotic Hand Grasps ADAPT: Benchmarking Commonsense Planning under Unspecified Affordance Constraints An Intelligent Robotic and Bio-Digestor Framework for Smart Waste Management Efficient closed-form approaches for pose estimation using Sylvester forms World-Value-Action Model: Implicit Planning for Vision-Language-Action Systems A Nonasymptotic Theory of Gain-Dependent Error Dynamics in Behavior Cloning CooperDrive: Enhancing Driving Decisions Through Cooperative Perception SpaceMind: A Modular and Self-Evolving Embodied Vision-Language Agent Framework for Autonomous On-orbit Servicing HiVLA: A Visual-Grounded-Centric Hierarchical Embodied Manipulation System UMI-3D: Extending Universal Manipulation Interface from Vision-Limited to 3D Spatial Perception Towards Multi-Object-Tracking with Radar on a Fast Moving Vehicle: On the Potential of Processing Radar in the Frequency Domain Beyond Conservative Automated Driving in Multi-Agent Scenarios via Coupled Model Predictive Control and Deep Reinforcement Learning Failure Identification in Imitation Learning Via Statistical and Semantic Filtering A Dynamic-Growing Fuzzy-Neuro Controller, Application to a 3PSP Parallel Robot Vision-Language-Action Jump-Starting for Reinforcement Learning Robotic Agents A Mechanistic Analysis of Sim-and-Real Co-Training in Generative Robot Policies ESCAPE: Episodic Spatial Memory and Adaptive Execution Policy for Long-Horizon Mobile Manipulation Evolvable Embodied Agent for Robotic Manipulation via Long Short-Term Reflection and Optimization
How Well Do Latent World Models Understand Partially Obse...
Matthew Kim, Kensuke Nakamura, Andrea Bajcsy · 2025-10-08 · via cs.RO updates on arXiv.org

Latent world models are a promising approach for learning state representations and dynamics directly from high-dimensional observations, enabling robot control in hard-to-model settings. However, control performance ultimately depends on the latent representation encoding the required information for the task. In this work, we study latent-space safe control problems and show how partial observability can induce control failures when safety-relevant information is not preserved in the latent state. Specifically, we identify two world model failure modes: estimation gaps, where current observations do not reveal safety-critical quantities (e.g., temperature in a cooking task), and prediction gaps, where failures are observable once they occur but cannot be reliably anticipated from available observations. We introduce two diagnostics for these gaps: a mutual-information-based measure of safety observability and a rollout-based measure of future safety predictability. Finally, we present mitigation strategies for each failure mode: privileged multimodal supervision for estimation gaps and conformal risk calibration for prediction gaps. Across two hardware case studies -- using unimodal RGB world models and multimodal RGB+Tactile and RGB+Thermal variants -- we show that these mitigation strategies improve the safety of a Franka Research 3 manipulator on challenging cooking tasks under partial observability, albeit with increased conservativeness. More broadly, our work raises the question of when world model state representations are sufficient for reliable robot control