Reinforcement learning has unlocked tremendous gains in broader AI and humanoid robot whole body control, but still has yet to deliver strong results for robot manipulation due to the difficulty of capturing tasks in an accurate simulation; one way to fix this is to create complex environments with learned world models. But learning fully within world models is often intractable as powerful world models are computationally too expensive.

Instead, Joseph Amigo and Rooholla Khorrambahkt propose to break the problem down: into a large-scale world model that can generate forward trajectories, and a lightweight, low-dimensional latent-space model which can approximate local dynamics of a problem, without needing to back-propagate through a heavy global model. What this means: you can do reinforcement learning in this coupled local-global world model, and learn contact rich skills for a robot.

To learn more, watch Episode #101 of RoboPapers, with Michael Cho and Jiafei Duan!

Abstract

World models offer a promising avenue for capturing complex environment dynamics where simulators face challenges. However, large-scale world models required for complex real-world settings are computationally expensive to adopt in popular RL approaches. We introduce a novel first-order RL method that enables policy training via a decoupled first-order gradient (FoG): a large-scale world model generates accurate forward trajectories while a lightweight latent-space surrogate approximates its local dynamics for efficient gradient computation. This coupled local-and-global formulation allows high-fidelity forward dynamics alongside the computationally efficient differentiation needed for model-based RL. Across a range of real-world robotic tasks we demonstrate tractable RL and zero-shot deployment, with significantly better sample efficiency than PPO on a canonical real-world Push-T benchmark and similar gains on more complex ego-centric manipulation and grasping.

Learn More

Project page: https://coupled-global-local-wm-rl.pages.dev/

ArXiV: https://arxiv.org/abs/2602.06219

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Ep#101: Coupled Local and Global World Models for Efficient First Order RL

RoboPapers

Ep#101: Coupled Local and Global World Models for Efficient First Order RL