WestWorld: A Knowledge-Encoded Scalable
Trajectory World Model for Diverse Robotic Systems
WestWorld Matches Ground Truth Most Accurately
Go1 Quadruped (Walk Straight)
Hopper (Hop Forward)
Walker2D (Walk Forward)
Real-World Deployment on Go1 Quadruped
Pretraining Yields Largest Gains for WestWorld
Go1 Quadruped (Walk Straight)
With Pretraining
Without Pretraining
Hopper (Hop Forward)
With Pretraining
Without Pretraining
Walker2D (Walk Forward)
With Pretraining
Without Pretraining