Generalizable Robotic Insertion with World Models

arXiv:2609.28258 · cs.RO, cs.CV, cs.LG · Submitted 2026-09-23 · Read on arXiv

cs.RO, cs.CV, cs.LG

Submitted: 2026-09-23

Updated: 2026-09-23

Terminology

• World Model — 31× in this paper · explained in 7 episodes
• Reinforcement Learning — 9× in this paper · explained in 4 episodes
• Ablation — 6× in this paper · explained in 1 episode
• Reward Function — 6× in this paper · explained in 2 episodes
• Generalization — 5× in this paper · explained in 13 episodes
• Embeddings — 3× in this paper · explained in 2 episodes
• Adaptation — 2× in this paper · explained in 1 episode
• Deep Reinforcement Learning — 2× in this paper · explained in 2 episodes
• Proximal Policy Optimization — 2× in this paper
• Robustness — 2× in this paper · explained in 5 episodes
• Zero-Shot Generalization — 2× in this paper · explained in 5 episodes
• Action Space — 1× in this paper · explained in 1 episode
• Active Perception — 1× in this paper · explained in 2 episodes
• Actor — 1× in this paper · explained in 3 episodes
• Adaptability — 1× in this paper · explained in 1 episode
• Closed-Loop Control — 1× in this paper · explained in 3 episodes
• Decoupling — 1× in this paper · explained in 2 episodes
• Latent Representation — 1× in this paper · explained in 2 episodes
• Latent Representations — 1× in this paper · explained in 3 episodes
• Latent Space — 1× in this paper · explained in 7 episodes
• Markov Decision Process — 1× in this paper
• Markov Decision Process (MDP) — 1× in this paper · explained in 11 episodes
• Model Predictive Path Integral (MPPI) — 1× in this paper · explained in 3 episodes
• Proximal Policy Optimization (PPO) — 1× in this paper · explained in 5 episodes
• Regret — 1× in this paper · explained in 3 episodes
• Reinforcement Learning (RL) — 1× in this paper · explained in 25 episodes
• Representation Learning — 1× in this paper · explained in 2 episodes
• Selection Bias — 1× in this paper · explained in 4 episodes
• Self-Supervised Learning — 1× in this paper · explained in 8 episodes

Sources

• Compare Contact Model-based Control and Contact Model-free Learning: A Survey of Robotic Peg-in-hole Assembly Strategies
• Proximal Policy Optimization Algorithms
• Learning Visual Robotic Control Efficiently with Contrastive Pre-training and Data Augmentation
• Solving Rubik's Cube with a Robot Hand
• Extreme Parkour with Legged Robots
• Expressive Whole-Body Control for Humanoid Robots
• Model Predictive Path Integral Control using Covariance Variable Importance Sampling
• Fabrica: Dual-Arm Assembly of General Multi-Part Objects via Integrated Planning and Learning

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