Graph-Operator World Models (GraphOp-WM) are a structured approach to learning world models that generalize across varying morphology parameters in continuous control tasks. The model represents robot bodies and their kinematic relationships as an attributed graph, decomposing each transition into a morphology‑independent local dynamics basis and a morphology‑conditioned structured operator. This operator blends node‑local modulation, kinematic‑tree coupling, and a low‑rank global correction, while architectural design choices encourage the operator to capture static morphology dependence. The framework supports reward, value, and TD‑MPC‑style planning through graph‑level readout and edge‑wise action representations, and is evaluated on controlled MuJoCo parameter splits involving interpolation, extrapolation, and held‑out compositions of link geometry, mass, damping, and actuation in Hopper, Walker2d, and HalfCheetah.
By Xu Yang, Yiqin Yang, Qianchuan Zhao
The paper introduces BRIDGE, an open‑source 88 cm tall humanoid robot designed through a data‑driven morphology‑control co‑design framework that optimizes the robot’s body shape for human‑like movement. A new metric combining kinematic retargeting fidelity and dynamic tracking performance is proposed to evaluate morphological fidelity, and the framework achieves state‑of‑the‑art results compared to existing humanoids such as Bumi, K1, and Toddlerbot. The resulting platform, released with its control policy and supporting materials, demonstrates superior fidelity in capturing human motion, robust balance, and highly dynamic maneuvers.
By Jianren Wang, Letian Qian, Zikai Wang, Weiwei Wu, Junjie Zong, Abhinav Gupta, Deepak Pathak
arXiv:2604. 08780v2 Announce Type: replace-cross Abstract: World models promise a paradigm shift in robotics, where an agent learns the physics of its environment once and then acquires behaviors efficiently.
By Mohamad H. Danesh, Chenhao Li, Amin Abyaneh, Anas Houssaini, Kirsty Ellis, Glen Berseth, Marco Hutter, Hsiu-Chin Lin
arXiv:2606. 12109v1 Announce Type: cross Abstract: Vision-Language-Action (VLA) models have demonstrated remarkable zero-shot generalization in robotic manipulation, yet the vast majority of pre-trained pipelines remain strictly confined to low-DoF parallel grippers.
By Chuanke Pang, Junyi Huang, Zhijun Zhao, Yaobing Wang, Kun Xu, Xilun Ding
arXiv:2609.38653v1 Announce Type: cross
Abstract: Recent advances in musculoskeletal modeling and reinforcement learning have enabled muscle-actuated agents to reproduce increasingly complex human mo...
By Merkourios Simos, Chengkun Li, Bianca Ziliotto, Alexander Mathis
The paper presents BRIDGE, an open‑source 88 cm tall humanoid robot designed through a data‑driven morphology‑control co‑design framework that aligns robot shape with human‑like movement. It introduces a new metric combining kinematic retargeting fidelity and dynamic tracking performance to evaluate morphological fidelity, achieving state‑of‑the‑art results against baseline humanoids. The released platform, along with its control policy, demonstrates superior human motion capture, robust balance, and dynamic maneuvers, with supporting videos and code available online.