WestWorld: A Knowledge-Encoded Scalable Trajectory World Model for Diverse Robotic Systems

• URL: http://arxiv.org/abs/2603.14392v1
• Date: Sun, 15 Mar 2026 14:12:43 GMT
• Title: WestWorld: A Knowledge-Encoded Scalable Trajectory World Model for Diverse Robotic Systems
• Abstract summary: Trajectory world models play a crucial role in robotic dynamics learning, planning, and control.<n>We introduce WestWorld, a knoWledge-Encoded Scalable Trajectory World model for diverse robotic systems.<n>WestWorld achieves significant improvements over competitive baselines in zero- and few-shot trajectory prediction.
• Score: 30.47929124291285
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Trajectory world models play a crucial role in robotic dynamics learning, planning, and control. While recent works have explored trajectory world models for diverse robotic systems, they struggle to scale to a large number of distinct system dynamics and overlook domain knowledge of physical structures. To address these limitations, we introduce WestWorld, a knoWledge-Encoded Scalable Trajectory World model for diverse robotic systems. To tackle the scalability challenge, we propose a novel system-aware Mixture-of-Experts (Sys-MoE) that dynamically combines and routes specialized experts for different robotic systems via a learnable system embedding. To further enhance zero-shot generalization, we incorporate domain knowledge of robot physical structures by introducing a structural embedding that aligns trajectory representations with morphological information. After pretraining on 89 complex environments spanning diverse morphologies across both simulation and real-world settings, WestWorld achieves significant improvements over competitive baselines in zero- and few-shot trajectory prediction. Additionally, it shows strong scalability across a wide range of robotic environments and significantly improves performance on downstream model-based control for different robots. Finally, we deploy our model on a real-world Unitree Go1, where it demonstrates stable locomotion performance (see our demo on the website: https://westworldrobot.github.io/). The code will be available upon publication.

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