相关论文: DINO-WM: World Models on Pre-trained Visual Featur…

Despite remarkable progress in driving world models, their potential for autonomous systems remains largely untapped: the world models are mostly learned for world simulation and decoupled from trajectory planning. While recent efforts aim…

This paper presents the World-Action Model (WAM), an action-regularized world model that jointly reasons over future visual observations and the actions that drive state transitions. Unlike conventional world models trained solely via image…

A plausible scene evolution depends on the maneuver being considered, while a good maneuver depends on how the scene may evolve. Existing World Action Models (WAMs) largely miss this reciprocity, treating world prediction and action…

A World Model is a compressed spatial and temporal representation of a real world environment that allows one to train an agent or execute planning methods. However, world models are typically trained on observations from the real world…

World models are essential for autonomous robotic planning. However, the substantial computational overhead of existing dense Transformerbased models significantly hinders real-time deployment. To address this efficiency-performance…

Deploying generative World-Action Models for manipulation is severely bottlenecked by redundant pixel-level reconstruction, $\mathcal{O}(T)$ memory scaling, and sequential inference latency. We introduce the Causal Latent World Model…

World models aim to improve robotic decision making by predicting the consequences of actions. However, in practice, their predictions often become unreliable once the robot encounters states outside the training distribution, limiting…

Generative world models (WMs) can now simulate worlds with striking visual realism, which naturally raises the question of whether they can endow embodied agents with predictive perception for decision making. Progress on this question has…

Post-training Vision-Language-Action (VLA) models via reinforcement learning (RL) in learned world models has emerged as an effective strategy to adapt to new tasks without costly real-world interactions. However, while using imagined…

Visual imitation learning enables robotic agents to acquire skills by observing expert demonstration videos. In the one-shot setting, the agent generates a policy after observing a single expert demonstration without additional fine-tuning.…

For imitation learning algorithms to scale to real-world challenges, they must handle high-dimensional observations, offline learning, and policy-induced covariate-shift. We propose DITTO, an offline imitation learning algorithm which…

We introduce multi-task Visuo-Tactile World Models (VT-WM), which capture the physics of contact through touch reasoning. By complementing vision with tactile sensing, VT-WM better understands robot-object interactions in contact-rich…

World models have become a central paradigm for learning predictive simulators that support generation, planning, and decision-making. Yet, despite rapid progress in industry-scale interactive video generation, the broader research…

Learning task-agnostic dynamics models in high-dimensional observation spaces can be challenging for model-based RL agents. We propose a novel way to learn latent world models by learning to predict sequences of future actions conditioned…

In real-world environments, AI systems often face unfamiliar scenarios without labeled data, creating a major challenge for conventional scene understanding models. The inability to generalize across unseen contexts limits the deployment of…

World models aim to capture the dynamics of the environment, enabling agents to predict and plan for future states. In most scenarios of interest, the dynamics are highly centered on interactions among objects within the environment. This…

Humans navigate in their environment by learning a mental model of the world through passive observation and active interaction. Their world model allows them to anticipate what might happen next and act accordingly with respect to an…

Infants are experts at playing, with an amazing ability to generate novel structured behaviors in unstructured environments that lack clear extrinsic reward signals. We seek to mathematically formalize these abilities using a neural network…

The Driving World Model (DWM), which focuses on predicting scene evolution during the driving process, has emerged as a promising paradigm in the pursuit of autonomous driving (AD). DWMs enable AD systems to better perceive, understand, and…

World Action Models (WAMs) have emerged as a promising paradigm for robot control by modeling physical dynamics. Current WAMs generally follow two paradigms: the "Imagine-then-Execute" approach, which uses video prediction to infer actions…