RealFeedApp Hourglass couples body-agnostic world models with differentiable ego-dynamics for cross-embodiment motion planning
The Hourglass architecture factorizes motion planning by combining a body-agnostic world model with robot-specific differentiable ego-dynamics. This approach enables cross-embodiment planning by pooling data while mapping commands to body-specific motion through ego-motion.
#motion planning#robotics#world model#differentiable dynamics#hourglass
