SupplementaryMaterialfor CuriousExplorationviaStructuredWorldModelsYields Zero-ShotObjectManipulation AGNNArchitecturalDetails

When different object types are present in the environment, we also include static object features in the object statessit. This can be viewed as a concatenation of a dynamicandastaticgraph[44]. Fortheextrinsic phase, we take the learned model with the listed architectural settings to solve downstream tasks zero-shot. In both environments 2000 transitions are generated within one trainingiterationofCEE-US. The actuated agent, i.e. robot, state is given bysagent.