相关论文: TesserAct: Learning 4D Embodied World Models

Training visual reinforcement learning (RL) in practical scenarios presents a significant challenge, $\textit{i.e.,}$ RL agents suffer from low sample efficiency in environments with variations. While various approaches have attempted to…

Video diffusion models provide powerful real-world simulators for embodied AI but remain limited in controllability for robotic manipulation. Recent works on trajectory-conditioned video generation address this gap but often rely on 2D…

Dynamic graphs are common in real-world systems such as social media, recommender systems, and traffic networks. Existing dynamic graph models for link prediction often fall short in capturing the complexity of temporal evolution. They tend…

Learning physical dynamics in a series of non-stationary environments is a challenging but essential task for model-based reinforcement learning (MBRL) with visual inputs. It requires the agent to consistently adapt to novel tasks without…

Supervised deep convolutional neural networks (DCNNs) are currently one of the best computational models that can explain how the primate ventral visual stream solves object recognition. However, embodied cognition has not been considered…

Directly learning to model 4D content, including shape, color, and motion, is challenging. Existing methods rely on pose priors for motion control, resulting in limited motion diversity and continuity in details. To address this, we propose…

Vision-centric autonomous driving has recently raised wide attention due to its lower cost. Pre-training is essential for extracting a universal representation. However, current vision-centric pre-training typically relies on either 2D or…

World modeling has become a cornerstone in AI research, enabling agents to understand, represent, and predict the dynamic environments they inhabit. While prior work largely emphasizes generative methods for 2D image and video data, they…

World models, which are predictive representations of how environments evolve under actions, have become a central component of robot learning. They support policy learning, planning, simulation, evaluation, data generation, and have…

Robust perception and dynamics modeling are fundamental to real-world robotic policy learning. Recent methods employ video diffusion models (VDMs) to enhance robotic policies, improving their understanding and modeling of the physical…

In this paper, we propose a novel self-supervised learning model for estimating continuous ego-motion from video. Our model learns to estimate camera motion by watching RGBD or RGB video streams and determining translational and rotation…

Scene understanding plays a critical role in enabling intelligence and autonomy in robotic systems. Traditional approaches often face challenges, including occlusions, ambiguous boundaries, and the inability to adapt attention based on…

Embodiment is an important characteristic for all intelligent agents (creatures and robots), while existing scene description tasks mainly focus on analyzing images passively and the semantic understanding of the scenario is separated from…

Recent advances in visual generative models have highlighted the promise of learning generative world models. However, most existing approaches frame world modeling as novel-view synthesis or future-frame prediction, emphasizing visual…

The landscape of video generation is shifting, from a focus on generating visually appealing clips to building virtual environments that support interaction and maintain physical plausibility. These developments point toward the emergence…

We introduce a method for real-time navigation and tracking with differentiably rendered world models. Learning models for control has led to impressive results in robotics and computer games, but this success has yet to be extended to…

Videos of robots interacting with objects encode rich information about the objects' dynamics. However, existing video prediction approaches typically do not explicitly account for the 3D information from videos, such as robot actions and…

The ability to learn robust policies while generalizing over large discrete action spaces is an open challenge for intelligent systems, especially in noisy environments that face the curse of dimensionality. In this paper, we present a…

We present a new model DrNET that learns disentangled image representations from video. Our approach leverages the temporal coherence of video and a novel adversarial loss to learn a representation that factorizes each frame into a…

Estimating scene flow in RGB-D videos is attracting much interest of the computer vision researchers, due to its potential applications in robotics. The state-of-the-art techniques for scene flow estimation, typically rely on the knowledge…