WestWorld: A Knowledge-Encoded Scalable Trajectory World Model for Diverse Robotic Systems

TL;DR

WestWorld is a scalable, knowledge-encoded trajectory world model for diverse robotic systems that improves zero-shot generalization and control performance across simulation and real-world environments.

Contribution

It introduces a novel system-aware Mixture-of-Experts and structural embeddings to enhance scalability and domain knowledge integration in trajectory modeling.

Findings

Achieves significant improvements in zero- and few-shot trajectory prediction.

Demonstrates strong scalability across diverse robotic environments.

Shows stable locomotion on a real-world robot.

Abstract

Trajectory world models play a crucial role in robotic dynamics learning, planning, and control. While recent works have explored trajectory world models for diverse robotic systems, they struggle to scale to a large number of distinct system dynamics and overlook domain knowledge of physical structures. To address these limitations, we introduce WestWorld, a knoWledge-Encoded Scalable Trajectory World model for diverse robotic systems. To tackle the scalability challenge, we propose a novel system-aware Mixture-of-Experts (Sys-MoE) that dynamically combines and routes specialized experts for different robotic systems via a learnable system embedding. To further enhance zero-shot generalization, we incorporate domain knowledge of robot physical structures by introducing a structural embedding that aligns trajectory representations with morphological information. After pretraining on 89 complex environments spanning diverse morphologies across both simulation and real-world settings, WestWorld achieves significant improvements over competitive baselines in zero- and few-shot trajectory prediction. Additionally, it shows strong scalability across a wide range of robotic environments and significantly improves performance on downstream model-based control for different robots. Finally, we deploy our model on a real-world Unitree Go1, where it demonstrates stable locomotion performance. The code is available at https://github.com/511205787/WestWorld.