Generative World Modelling for Humanoids: 1X World Model Challenge Technical Report

World models are a powerful paradigm in AI and robotics, enabling agents to reason about the future by predicting visual observations or compact latent states. The 1X World Model Challenge introduces an open-source benchmark of real-world humanoid interaction, with two complementary tracks: sampling, focused on forecasting future image frames, and compression, focused on predicting future discrete latent codes. For the sampling track, we adapt the video generation foundation model Wan-2.2 TI2V-5B to video-state-conditioned future frame prediction. We condition the video generation on robot states using AdaLN-Zero, and further post-train the model using LoRA. For the compression track, we train a Spatio-Temporal Transformer model from scratch. Our models achieve 23.0 dB PSNR in the sampling task and a Top-500 CE of 6.6386 in the compression task, securing 1st place in both challenges.

Function-space Parameterization of Neural Networks for Sequential Learning

Sequential learning paradigms pose challenges for gradient-based deep learning due to difficulties incorporating new data and retaining prior knowledge. While Gaussian processes elegantly tackle these problems, they struggle with scalability and handling rich inputs, such as images. To address these issues, we introduce a technique that converts neural networks from weight space to function space, through a dual parameterization. Our parameterization offers: (i) a way to scale function-space methods to large data sets via sparsification, (ii) retention of prior knowledge when access to past data is limited, and (iii) a mechanism to incorporate new data without retraining. Our experiments demonstrate that we can retain knowledge in continual learning and incorporate new data efficiently. We further show its strengths in uncertainty quantification and guiding exploration in model-based RL. Further information and code is available on the project website.

Sparse Function-space Representation of Neural Networks

Deep neural networks (NNs) are known to lack uncertainty estimates and struggle to incorporate new data. We present a method that mitigates these issues by converting NNs from weight space to function space, via a dual parameterization. Importantly, the dual parameterization enables us to formulate a sparse representation that captures information from the entire data set. This offers a compact and principled way of capturing uncertainty and enables us to incorporate new data without retraining whilst retaining predictive performance. We provide proof-of-concept demonstrations with the proposed approach for quantifying uncertainty in supervised learning on UCI benchmark tasks.