Related papers: Kinema4D: Kinematic 4D World Modeling for Spatiote…
Generating reasonable and high-quality human interactive motions in a given dynamic environment is crucial for understanding, modeling, transferring, and applying human behaviors to both virtual and physical robots. In this paper, we…
Accurate and efficient simulation of modern robots remains challenging due to their high degrees of freedom and intricate mechanisms. Neural simulators have emerged as a promising alternative to traditional analytical simulators, capable of…
World models aim to endow AI systems with the ability to represent, generate, and interact with dynamic environments in a coherent and temporally consistent manner. While recent video generation models have demonstrated impressive visual…
Recent techniques for text-to-4D generation synthesize dynamic 3D scenes using supervision from pre-trained text-to-video models. However, existing representations for motion, such as deformation models or time-dependent neural…
We introduce GE-Sim 2.0 (Genie Envisioner World Simulator 2.0), a closed-loop video world simulator for robotic manipulation. Building on the action-conditioned video generation framework of Genie Envisioner, GE-Sim 2.0 is re-trained on…
Text-to-4D generation has recently been demonstrated viable by integrating a 2D image diffusion model with a video diffusion model. However, existing models tend to produce results with inconsistent motions and geometric structures over…
Semantics has enabled 3D scene understanding and affordance-driven object interaction. However, robots operating in real-world environments face a critical limitation: they cannot anticipate how objects move. Long-horizon mobile…
To coordinate actions with an interaction partner requires a constant exchange of sensorimotor signals. Humans acquire these skills in infancy and early childhood mostly by imitation learning and active engagement with a skilled partner.…
Traditional 3D content creation tools empower users to bring their imagination to life by giving them direct control over a scene's geometry, appearance, motion, and camera path. Creating computer-generated videos, however, is a tedious…
A world model is an AI system that simulates how an environment evolves under actions, enabling planning through imagined futures rather than reactive perception. Current world models, however, suffer from visual conflation: the mistaken…
Impact-aware tasks (i.e. on purpose impacts) are not handled in multi-objective whole body controllers of hu-manoid robots. This leads to the fact that a humanoid robot typically operates at near-zero velocity to interact with the external…
We present an open-source untethered quadrupedal soft robot platform for dynamic locomotion (e.g., high-speed running and backflipping). The robot is mostly soft (80 vol.%) while driven by four geared servo motors. The robot's soft body and…
An obstacle toward construction robotization is the lack of methods to plan robot operations within the entire construction planning process. Despite the strength in modeling construction site conditions, 4D BIM technologies cannot perform…
We introduce 3D4D, an interactive 4D visualization framework that integrates WebGL with Supersplat rendering. It transforms static images and text into coherent 4D scenes through four core modules and employs a foveated rendering strategy…
Previous humanoid robot research works treat the robot as a bipedal mobile manipulation platform, where only the feet and hands contact the environment. However, we humans use all body parts to interact with the world, e.g., we sit in…
Large-scale robot datasets have facilitated the learning of a wide range of robot manipulation skills, but these datasets remain difficult to collect and scale further, owing to the intractable amount of human time, effort, and cost…
Video world models aim to simulate dynamic, real-world environments, yet existing methods struggle to provide unified and precise control over camera and multi-object motion, as videos inherently capture dynamics in the projected 2D image…
Recent progress of video diffusion models have enabled extensive simulation of the physical world. While simulation with hand object interaction has been less explored. We propose DexSIM, a dexterous simulation framework for simulating…
Learning generalist policies capable of accomplishing a plethora of everyday tasks remains an open challenge in dexterous manipulation. In particular, collecting large-scale manipulation data via real-world teleoperation is expensive and…
High-fidelity physics simulation is essential for scalable robotic learning, but the sim-to-real gap persists, especially for tasks involving complex, dynamic, and discontinuous interactions like physical contacts. Explicit system…