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Equation 1 · Part 5 · How Robotics and Embodied AI Actually Work

Symbol hato_t+1

s^t+1=fθ(st,at),o^t+1∼pθ(o∣s^t+1)\hat{s}_{t+1} = f_\theta(s_t, a_t), \qquad \hat{o}_{t+1} \sim p_\theta(o \mid \hat{s}_{t+1})
o^t+1\hat{o}_{t+1}

What this part means

hatoto_t+1 is one of the signed contributions combined to compute the quantity on the left.

Its job in the formula

hatoto_t+1 is one of the signed contributions combined to compute the quantity on the left.

The passage around this formula

Dreamer-style world models learn a compact latent-dynamics model — a recurrent state-space model that predicts both a stochastic and a deterministic component of future latent state — and then train a policy by backpropagating through imagined rollouts inside that latent space, rather than through real or simulated environment steps directly [ 8 ] . DayDreamer took that specific mechanism, previously demonstrated mostly in video-game and simulated benchmarks, and applied it to physical robots learning online, without a simulator and without human demonstrations, reporting that four different physical robots (a quadruped and several manipulator arms) learned locomotion and manipulation skills…

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Learn the underlying idea

A subscript is a label attached below a symbol. It often selects a time step, component, category, or member of a sequence.

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Sources cited in the surrounding passage

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