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Contact-Rich Humanoid Policies Trained Entirely Inside a World Model

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Coupled Local and Global World Models uses a large-scale world model for high-fidelity rollouts and a lightweight latent surrogate for gradients, training contact-rich G1 humanoid policies entirely inside a learned pixel-space model before zero-shot hardware deployment.

Coupled Local and Global World Models FoG First-Order RL DMO World Models Unitree G1 Unitree Humanoid Manipulation Zero-Shot Reinforcement Learning RoboPapers Contact-Rich Manipulation

Category: research

Author: @chris_j_paxton

Date: 2026-09-04T00:00:00

Duration: 145.833s

Source: https://x.com/chris_j_paxton/status/2095854947938058250

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

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