WorldSample: Closed-loop Real-robot RL with World Modelling

Engineering notes

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Chinese explanation / 中文解读

中文解读待补充：本站会优先为 VLA、具身智能、人形机器人控制、机器人操作等高价值论文补充中文说明。

Original abstract

Reinforcement learning (RL) can overcome the demonstration-coverage limitation of imitation learning (IL) by allowing robots to improve through trial-and-error interaction beyond the states observed in demonstrations. However, deploying RL on real robots remains constrained by high interaction costs, since each physical rollout is costly and reflects only one realized action-outcome path. To address this challenge, we propose WorldSample, a physically grounded data augmentation framework for real-robot RL that closes a real-synthetic loop between physical rollouts, world-model generation, and policy improvement. Grounded on real rollouts, WorldSample generates high-fidelity synthetic transitions through a post-trained world model, which greatly lowers the visual hallucination. Specifically, rather than simply using these transitions as real-world experience, WorldSample introduces Policy-Paced Learning (PPL) to regulate the training process through sample selection and scheduling, balancing useful augmentation against value overestimation and mitigating the hallucination-induced noise. Experiments on robot manipulation tasks involving contact-rich and precise tasks show that WorldSample improves policy success rate by 28% while reducing training steps by 59% compared with baselines. Furthermore, WorldSample improves world model visual fidelity by 19.4dB in PSNR and 0.47 in SSIM over demonstration-only post-training, validating the effectiveness of the real-synthetic loop for both policy and world model performance.

Links and sources

• Official / arXiv page
• PDF from original source

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