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    "story_id": "mp-2026-10-25-009",
    "source_story_id": "tmp-story-skelam-robot-world-model",
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    "section": "robotics",
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    "headline": "The World Model Separates the Arm From What It Moves",
    "slug": "the-world-model-separates-the-arm-from-what-it-moves",
    "dek": "Skeleton supervision grounds one latent-action channel in robot kinematics while a residual channel retains the rest of the visual change.",
    "summary": "Skeleton supervision grounds one latent-action channel in robot kinematics while a residual channel retains the rest of the visual change.",
    "body_text": "Video-trained robot world models can blur together commanded motion, object response and incidental scene change. SkeLAM splits latent action into a kinematic component supervised by robot skeletons and a residual component for complementary visual dynamics. Cross-modal reconstruction encourages RGB- and skeleton-derived kinematics to align, while branch dropout limits reliance on future-derived residual information. A lightweight adapter maps real robot actions into the kinematic space at inference. On DROID, the authors report a 19.5 percent reduction in end-effector displacement error and an 11.1 percent LPIPS improvement against DreamDojo, with qualitative human-to-robot motion transfer. The findings concern the evaluated data, metrics and rollouts; generated agreement is not a safety guarantee for physical execution.",
    "why_it_matters": "Skeleton supervision grounds one latent-action channel in robot kinematics while a residual channel retains the rest of the visual change.",
    "limitations": [
      "The findings concern the evaluated data, metrics and rollouts; generated agreement is not a safety guarantee for physical execution."
    ],
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    "first_published_at": "2026-10-25T09:00:00.000-04:00",
    "modified_at": "2026-10-25T09:00:00.000-04:00",
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        "text": "Skeleton supervision grounds one latent-action channel in robot kinematics while a residual channel retains the rest of the visual change.",
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        "qualification": "The findings concern the evaluated data, metrics and rollouts; generated agreement is not a safety guarantee for physical execution."
      }
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    "source_ids": [
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    "tags": [
      "world models",
      "latent actions",
      "robot kinematics",
      "video"
    ],
    "image_url": null,
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  "sources": [
    {
      "source_id": "source-2026-10-25-009",
      "title": "arXiv preprint 2610.31474, original v1",
      "publisher": "arXiv",
      "url": "https://arxiv.org/abs/2610.31474v1",
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      "published_at": "2026-10-22T12:01:33.000-04:00",
      "accessed_at": "2026-10-25T08:17:14.361-04:00",
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    "title": "The World Model Separates the Arm From What It Moves",
    "publisher": "The Machine Press",
    "published_at": "2026-10-25T09:00:00.000-04:00",
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