Coupled Local and Global World Models for Efficient First Order RL

ArXi:2602.06219v2 Announce Type: replace-cross World models offer a promising avenue for faithfully capturing complex dynamics, including contacts and non-rigidity, as well as complex sensory information, such as visual perception, in situations where standard simulators struggle. However, these models are computationally complex to evaluate, posing a challenge for popular RL approaches that have been successfully used with simulators to solve complex locomotion tasks but yet struggle with manipulation. This paper