Inverse Dynamics Model
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Can VLMs Predict Future States? Bootstrapping World Models from Inverse Dynamics
arXiv:2506.06006v3 Announce Type: replace Abstract: Can unified vision-language models (VLMs) perform forward dynamics prediction (FDP), i.e., predicting the future state (in image form) given the previous observation and an action (in language form)? We find that VLMs struggle to generate physically plausible transitions between frames from instructions. Nevertheless, we identify a crucial asymmetry in multimodal grounding: fine-tuning a VLM to learn inverse dynamics prediction...
When Does Predictive Inverse Dynamics Outperform Behavior Cloning?
arXiv:2601.21718v2 Announce Type: replace Abstract: Behavior cloning (BC) is a practical offline imitation learning method, but it often fails when expert demonstrations are limited. Recent works have introduced a class of architectures named predictive inverse dynamics models (PIDM) that combine a future state predictor with an inverse dynamics model. While PIDM often outperforms BC, the reasons behind its benefits remain unclear.
A Lecture Note on Offline RL and IRL, Part II: Foundations of Inverse Reinforcement Learning and Dynamic Discrete Choice Models
arXiv:2605.30843v1 Announce Type: new Abstract: In the forward reinforcement-learning problem, the reward is fixed and known; the learner is asked to find a good policy or value function. Here we turn the question around. Given offline data generated by an expert, can we recover the reward the expert was optimizing?
IDOL: Inverse-Dynamics-Guided Future Prediction for End-to-End Autonomous Driving
arXiv:2605.31476v1 Announce Type: new Abstract: End-to-end autonomous driving has emerged as a compelling paradigm for learning planning directly from sensor observations, while recent world-model-based approaches further enrich this paradigm by enabling explicit reasoning about how the scene may evolve in the future. Yet future prediction alone does not guarantee better planning unless the predicted evolution can be converted into planning-relevant trajectory updates. Many current methods...
Causal Multi-fidelity Surrogate Forward and Inverse Models for ICF Implosions
arXiv:2509.05510v3 Announce Type: replace Abstract: Continued progress in inertial confinement fusion (ICF) requires solving inverse problems relating experimental observations to simulation input parameters, followed by design optimization. However, such high-dimensional dynamic PDE-constrained optimization problems are extremely challenging or even intractable. It has been recently shown that inverse problems can be solved by only considering certain robust features.
Causal Multi-fidelity Surrogate Forward and Inverse Models for ICF Implosions
arXiv:2509.05510v3 Announce Type: replace-cross Abstract: Continued progress in inertial confinement fusion (ICF) requires solving inverse problems relating experimental observations to simulation input parameters, followed by design optimization. However, such high-dimensional dynamic PDE-constrained optimization problems are extremely challenging or even intractable. It has been recently shown that inverse problems can be solved by only considering certain robust features.
Learning To Sample From Diffusion Models Via Inverse Reinforcement Learning
Announce Type: replace Abstract: Diffusion models generate samples through an iterative denoising process guided by a pretrained neural network. Once the denoiser is fixed, the sampling algorithm itself (noise schedules, guidance scales, stochasticity profiles) still requires careful tuning, a process typically carried out through costly empirical grid search. In this work, we introduce an inverse reinforcement learning framework for learning sampling strategies without retraining the denoiser.
Solving Inverse Problems with Flow-based Models via Model Predictive Control
arXiv:2601.23231v2 Announce Type: replace-cross Abstract: Flow-based generative models provide strong unconditional priors for inverse problems, but guiding their dynamics for conditional generation remains challenging. Recent work casts training-free conditional generation in flow models as an optimal control problem; however, solving the resulting trajectory optimisation is computationally and memory intensive, requiring differentiation through the flow dynamics or adjoint solves. We...
Beyond Static Uncertainty: Modeling Temporal Uncertainty Dynamics for Probabilistic Time Series Forecasting
arXiv:2603.24254v3 Announce Type: replace Abstract: Real-world time series exhibit temporally structured uncertainty: volatility clusters in turbulent regimes, dissipates in stable periods, and shifts abruptly around structural breaks. Yet many probabilistic forecasting methods estimate predictive uncertainty as an independent per-step quantity, leaving the evolution and persistence of volatility regimes under-modeled. We formalize this missing dimension as temporal uncertainty dynamics and...
When Both Layers Learn: Training Dynamics of Representing Linear Models via ReLU Networks
arXiv:2606.04476v1 Announce Type: new Abstract: In this paper, we study the gradient descent dynamics for jointly training both layers of a one-hidden-layer ReLU network to fit a linear target function. Concretely, we consider a realizable setting where inputs are drawn i.i.d. from a Gaussian distribution and labels follow a planted linear model.