EMPIRIC: Experiment-Driven Learning of Residual World Models for Robot Planning

Authors:Yichao Liang, Amber Li, Dat Nguyen, Emily Bunnapradist, Michelangelo Naim, Sreela Kodali, Matteo Merler, Bowen Li, Kiran Gopinathan, Yiyun Liu, Nikhil Pimpalkhare, Joshua B. Tenenbaum, Adrian Weller, Zenna Tavares, Tom Silver, Kevin Ellis

Abstract:A robot should be able to learn through experiments how unfamiliar objects behave and interact, then plan with that knowledge. It need not start from scratch: physics engines supply knowledge of motion and contact, but can omit entire mechanisms, such as glue curing, water heating, or wind. We present EMPIRIC, an agent that learns a residual world model: a physics engine extended with code for the missing mechanisms. The learned programs can introduce new forces, constraints, and hidden state, and Bayesian inference estimates their parameters and states from noisy observations. The resulting model lets the agent predict the outcomes of actions, choose informative experiments, and revise its hypotheses when predictions fail. Across five simulated domains, EMPIRIC learns interpretable, reusable models, and solves more tasks with fewer environment interactions than all three baselines. On a physical robot, it learns wind forces and domino masses to solve a manipulation task. Website and code: this https URL

The last two authors contributed equally as co-advisors. Website and code: this https URL

Robotics (cs.RO); Artificial Intelligence (cs.AI); Machine Learning (cs.LG)

arXiv:2609.35047 [cs.RO]

(or arXiv:2609.35047v1 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2609.35047 arXiv-issued DOI via DataCite (pending registration)