Adaptive Rollout Truncation Based on Epistemic Uncertainty for Efficient Offline World Model Training

arXiv:2609.21482 · cs.RO, cs.LG · Submitted 2026-09-18 · Read on arXiv

cs.RO, cs.LG

Submitted: 2026-09-18

Updated: 2026-09-18

Comments: 8 pages, 12 figures. Accepted at the IEEE/RSJ IROS 2026 Workshop "Rethinking Uncertainty for Modern Robotics Paradigms"

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• World Model — 5× in this paper · explained in 7 episodes
• Epistemic Uncertainty — 4× in this paper · explained in 10 episodes
• Accuracy — 1× in this paper · explained in 1 episode
• Adaptive Rollout Truncation — 1× in this paper · explained in 1 episode
• Monte Carlo dropout — 1× in this paper · explained in 2 episodes
• Regularization — 1× in this paper · explained in 3 episodes

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