相关论文: Enhancing Physical Consistency in Lightweight Worl…

Learning predictive models from high-dimensional sensory observations is fundamental for cyber-physical systems, yet the latent representations learned by standard world models lack physical interpretability. This limits their reliability,…

World models derived from large-scale video generative pre-training have emerged as a promising paradigm for generalist robot policy learning. However, standard approaches often focus on high-fidelity RGB video prediction, this can result…

Unmanned Aerial Vehicle (UAV) applications have become increasingly prevalent in aerial photography and object recognition. However, there are major challenges to accurately capturing small targets in object detection due to the imbalanced…

Embodied action planning is a core challenge in robotics, requiring models to generate precise actions from visual observations and language instructions. While video generation world models are promising, their reliance on pixel-level…

Action-conditioned world models (ACWMs) have shown strong promise for video prediction and decision-making. However, existing benchmarks are largely restricted to egocentric navigation or narrow, task-specific robotics datasets, offering…

Reinforcement learning from large-scale offline datasets provides us with the ability to learn policies without potentially unsafe or impractical exploration. Significant progress has been made in the past few years in dealing with the…

While non-prehensile manipulation (e.g., controlled pushing/poking) constitutes a foundational robotic skill, its learning remains challenging due to the high sensitivity to complex physical interactions involving friction and restitution.…

Imitation learning has emerged as a promising approach towards building generalist robots. However, scaling imitation learning for large robot foundation models remains challenging due to its reliance on high-quality expert demonstrations.…

Learned world models hold significant potential for robotic manipulation, as they can serve as simulator for real-world interactions. While extensive progress has been made in 2D video-based world models, these approaches often lack…

Learning predictive world models from visual observations is a core problem in embodied AI, with applications to model-based reinforcement learning and robotic planning. Existing latent world models typically generate future states with…

World Models have emerged as a powerful paradigm for learning compact, predictive representations of environment dynamics, enabling agents to reason, plan, and generalize beyond direct experience. Despite recent interest in World Models,…

Human motion prediction has traditionally been framed as a sequence regression problem where models extrapolate future joint coordinates from observed pose histories. While effective over short horizons this approach does not separate…

Humanoid robots, with their human-like form, are uniquely suited for interacting in environments built for people. However, enabling humanoids to reason, plan, and act in complex open-world settings remains a challenge. World models, models…

We introduce Latent Particle World Model (LPWM), a self-supervised object-centric world model scaled to real-world multi-object datasets and applicable in decision-making. LPWM autonomously discovers keypoints, bounding boxes, and object…

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 attracted increasing attention in autonomous driving for their ability to forecast potential future scenarios. In this paper, we propose BEVWorld, a novel framework that transforms multimodal sensor inputs into a unified…

The ability to predict future outcomes given control actions is fundamental for physical reasoning. However, such predictive models, often called world models, remains challenging to learn and are typically developed for task-specific…

Beam prediction is critical for reducing beam-training overhead in millimeter-wave (mmWave) systems, especially in high-mobility vehicular scenarios. This paper presents a BEV-Fusion based framework that unifies camera, LiDAR, radar, and…

Model-based planning in robotic domains is challenged by the hybrid nature of physical dynamics, where continuous motion is punctuated by discrete events such as contacts and impacts. Conventional latent world models typically employ…

Understanding 3D scenes requires flexible combinations of visual reasoning tasks, including depth estimation, novel view synthesis, and object manipulation, all of which are essential for perception and interaction. Existing approaches have…