Sim-to-Real Aware End-to-End Learning Environment for Micromobility

arXiv 2026 23 method, system, application

TLDR

A sim-to-real-aware micromobility learning environment on AWSIM/ROS2 optimizes physical parameters and trains a DreamerV3 world model policy that transfers directly to a real WHILL vehicle.

Reasoning

The paper addresses an important sim-to-real gap for micromobility and demonstrates real-world transfer of a learned policy. However, the abstract lacks quantitative results and provides limited detail on the world model architecture and its contributions.

Read-first score

Read-first score 23, weighted from topical fit, citation, graph, method, reproducibility, and recency signals. Original total remains 27.

Recency 5%

100

Uses a gentle age decay so recent papers surface without erasing older foundations. 2026

Topical relevance 25%

38.6

Uses existing LLM keyword relevance scores normalized to 0-100. world model,world simulator,generative world model,interactive world model,video world model,world dynamics prediction,model-based reinforcement learning world model

Reproducibility 15%

Screens links and visible text for paper, code, dataset, artifact, and repository signals. pdf=True; code=False; dataset=False; markers=none

Methodology quality 15%

Screens visible abstract and analysis fields for experiment, dataset, baseline, metric, and limitation evidence. markers=none

Graph prestige 15%

5.7

PageRank-style prestige over the local citation graph built from available OpenAlex references. local_pagerank=0.0016

Citation impact 15%

Uses OpenAlex-shaped citation metadata as a bibliometric attention signal, separate from paper quality. cited_by_count=0

Citation velocity 10%

Citation velocity estimates citations per publication-year to reduce old-paper bias. velocity=0.00

Field roles

Frontier

Rank sensitivity

Stability: volatile; rank range: 228.

Keyword Scores

world model

model-based reinforcement learning world model

world simulator

world dynamics prediction

generative world model

interactive world model

video world model

Resources

Paper