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Davide Liconti

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#artificial intelligence Preprint Jul 2026

Mask2Real-WM: Segmentation Masks as a Sim-to-Real Bridge for Controllable Dexterous World Models

Mask2Real-WM is presented, a two-stage action-conditioned world model for dexterous manipulation that decouples pixel prediction into a dynamics model and a rendering model that shows that mask conditioning and simulation pretraining are both required for per-DoF action controllability across all 23 degrees of freedom.

Riccardo Feingold, Davide Liconti, Chenyu Yang et al. · 1 citation