Feedback World Model Enables Precise Guidance of Diffusion Policy

arXiv:2605.15705 · cs.RO, cs.AI · Submitted 2026-05-15 · Read on arXiv

cs.RO, cs.AI

Submitted: 2026-05-15

Updated: 2026-10-21

Terminology

• World Model — 5× in this paper · explained in 7 episodes
• Accuracy — 1× in this paper · explained in 1 episode
• Convergence Guarantees — 1× in this paper · explained in 3 episodes
• Distribution Shift — 1× in this paper · explained in 10 episodes

Related papers

• FMT x: An Efficient and Asymptotically Optimal Extension of the Fast Marching Tree for Dynamic Replanning
• MPCFormer: A physics-informed data-driven approach for explainable socially-aware autonomous driving
• RoboLab: A High-Fidelity Simulation Benchmark for Analysis of Task Generalist Policies
• ARC: A Reasoning Recipe for Robot Foundation Models
• HRDexDB: A 4D Dexterous Grasping Dataset Across Human and Multiple Robot Embodiments
• APT: Action Expert Pretraining Improves Instruction Generalization of Vision-Language-Action Policies