Verti-WM: A Physics-Aided Exteroceptive World Model for Off-Road Reinforcement Learning

arXiv:2609.23118 · cs.RO · Submitted 2026-09-19 · Read on arXiv

cs.RO

Submitted: 2026-09-19

Updated: 2026-09-19

Terminology

• Transformer — 34× in this paper · explained in 2 episodes
• World Model — 28× in this paper · explained in 7 episodes
• Fidelity — 11× in this paper · explained in 2 episodes
• Reinforcement Learning — 8× in this paper · explained in 4 episodes
• Sim-to-Real Transfer — 5× in this paper · explained in 2 episodes
• Steering — 4× in this paper · explained in 2 episodes
• Adaptation — 3× in this paper · explained in 1 episode
• Transformer Models — 3× in this paper · explained in 2 episodes
• Accuracy — 2× in this paper · explained in 1 episode
• Ablation — 1× in this paper · explained in 1 episode
• Abstraction — 1× in this paper · explained in 1 episode
• Action Space — 1× in this paper · explained in 1 episode
• Actor — 1× in this paper · explained in 3 episodes
• Aggregation — 1× in this paper · explained in 1 episode
• Angular Error — 1× in this paper · explained in 1 episode
• Benchmark — 1× in this paper · explained in 2 episodes
• Embeddings — 1× in this paper · explained in 2 episodes
• Fine-Tuning — 1× in this paper · explained in 5 episodes
• IEEE International Conference on Robotics and Automation — 1× in this paper
• Latent Representation — 1× in this paper · explained in 2 episodes
• Latent Representations — 1× in this paper · explained in 3 episodes
• Multimodal Dataset — 1× in this paper · explained in 2 episodes
• Proximal Policy Optimization — 1× in this paper
• Reconstruction Error — 1× in this paper · explained in 2 episodes
• Regularization — 1× in this paper · explained in 3 episodes
• Soft Actor-Critic — 1× in this paper
• Soft Actor-Critic (SAC) — 1× in this paper · explained in 2 episodes
• Symposium on Safety Security Rescue Robotics — 1× in this paper

Sources

• World Models
• Mastering Diverse Domains through World Models
• Robotic World Model: A Neural Network Simulator for Robust Policy Optimization in Robotics
• Dynamics Modeling using Visual Terrain Features for High-Speed Autonomous Off-Road Driving
• AnyNav: Visual Neuro-Symbolic Friction Learning for Off-road Navigation
• PIAug -- Physics Informed Augmentation for Learning Vehicle Dynamics for Off-Road Navigation
• VertiAdaptor: Online Kinodynamics Adaptation for Vertically Challenging Terrain
• VertiAKD: Adaptive Off-Road Kinodynamics on Vertically Challenging Terrain
• TADPO: Reinforcement Learning Goes Off-road

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