DynaWM: Dynamics-Aware Distillation with World Model and Momentum Targets for Smooth Locomotion over Continuous Stairs
Recent advances in control have enabled bipedal-wheeled robots to traverse slopes and single-step obstacles, yet long staircase traversal remains challenging as current teacher-student frameworks suffer from weakened dynamics-aware representations and incomplete terrain geometry encoding. To bridge this gap, we propose DynaWM, a dynamics-aware representation learning framework. To enhance terrain encoding capability and enable transparent assessment, we introduce a world model as a regularizer to enforce forward-dynamics awareness, preserving comprehensive terrain geometry while facilitating hierarchical encoding visualization. To stabilize knowledge transfer, we employ a momentum target ...
| Authors | Haidong Hou, Zhangguo Yu, Hengbo Qi et al. |
|---|---|
| Primary category | cs.RO |
| Published | 23 June 2026 |
| Last updated at source | 23 June 2026 |
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