Robotic world models—conceptualization, review, and engineering best practices
The term “world model” (WM) has surfaced several times in robotics, for instance, in the context of mobile manipulation, navigation and mapping, and deep reinforcement learning. Despite its frequent use, the term does not appear to have a concise definition that is consistently used across domains a...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Frontiers Media S.A.
2023-11-01
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| Series: | Frontiers in Robotics and AI |
| Subjects: | |
| Online Access: | https://www.frontiersin.org/articles/10.3389/frobt.2023.1253049/full |
| _version_ | 1797641583648047104 |
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| author | Ryo Sakagami Florian S. Lay Andreas Dömel Martin J. Schuster Alin Albu-Schäffer Freek Stulp |
| author_facet | Ryo Sakagami Florian S. Lay Andreas Dömel Martin J. Schuster Alin Albu-Schäffer Freek Stulp |
| author_sort | Ryo Sakagami |
| collection | DOAJ |
| description | The term “world model” (WM) has surfaced several times in robotics, for instance, in the context of mobile manipulation, navigation and mapping, and deep reinforcement learning. Despite its frequent use, the term does not appear to have a concise definition that is consistently used across domains and research fields. In this review article, we bootstrap a terminology for WMs, describe important design dimensions found in robotic WMs, and use them to analyze the literature on WMs in robotics, which spans four decades. Throughout, we motivate the need for WMs by using principles from software engineering, including “Design for use,” “Do not repeat yourself,” and “Low coupling, high cohesion.” Concrete design guidelines are proposed for the future development and implementation of WMs. Finally, we highlight similarities and differences between the use of the term “world model” in robotic mobile manipulation and deep reinforcement learning. |
| first_indexed | 2024-03-11T13:47:46Z |
| format | Article |
| id | doaj.art-ed73c98cf73c48069f90adfbae2b6849 |
| institution | Directory Open Access Journal |
| issn | 2296-9144 |
| language | English |
| last_indexed | 2024-03-11T13:47:46Z |
| publishDate | 2023-11-01 |
| publisher | Frontiers Media S.A. |
| record_format | Article |
| series | Frontiers in Robotics and AI |
| spelling | doaj.art-ed73c98cf73c48069f90adfbae2b68492023-11-02T10:07:23ZengFrontiers Media S.A.Frontiers in Robotics and AI2296-91442023-11-011010.3389/frobt.2023.12530491253049Robotic world models—conceptualization, review, and engineering best practicesRyo SakagamiFlorian S. LayAndreas DömelMartin J. SchusterAlin Albu-SchäfferFreek StulpThe term “world model” (WM) has surfaced several times in robotics, for instance, in the context of mobile manipulation, navigation and mapping, and deep reinforcement learning. Despite its frequent use, the term does not appear to have a concise definition that is consistently used across domains and research fields. In this review article, we bootstrap a terminology for WMs, describe important design dimensions found in robotic WMs, and use them to analyze the literature on WMs in robotics, which spans four decades. Throughout, we motivate the need for WMs by using principles from software engineering, including “Design for use,” “Do not repeat yourself,” and “Low coupling, high cohesion.” Concrete design guidelines are proposed for the future development and implementation of WMs. Finally, we highlight similarities and differences between the use of the term “world model” in robotic mobile manipulation and deep reinforcement learning.https://www.frontiersin.org/articles/10.3389/frobt.2023.1253049/fullworld modelstate representationsoftware architecture for robotics and automationenvironment modelingautonomous robots |
| spellingShingle | Ryo Sakagami Florian S. Lay Andreas Dömel Martin J. Schuster Alin Albu-Schäffer Freek Stulp Robotic world models—conceptualization, review, and engineering best practices Frontiers in Robotics and AI world model state representation software architecture for robotics and automation environment modeling autonomous robots |
| title | Robotic world models—conceptualization, review, and engineering best practices |
| title_full | Robotic world models—conceptualization, review, and engineering best practices |
| title_fullStr | Robotic world models—conceptualization, review, and engineering best practices |
| title_full_unstemmed | Robotic world models—conceptualization, review, and engineering best practices |
| title_short | Robotic world models—conceptualization, review, and engineering best practices |
| title_sort | robotic world models conceptualization review and engineering best practices |
| topic | world model state representation software architecture for robotics and automation environment modeling autonomous robots |
| url | https://www.frontiersin.org/articles/10.3389/frobt.2023.1253049/full |
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