相关论文: Robot Learning from a Physical World Model

Modern video diffusion models excel at appearance synthesis but still struggle with physical consistency: objects drift, collisions lack realistic rebound, and material responses seldom match their underlying properties. We present PhyCo, a…

We tackle the problem of learning complex, general behaviors directly in the real world. We propose an approach for robots to efficiently learn manipulation skills using only a handful of real-world interaction trajectories from many…

Autonomous driving requires robust perception models trained on high-quality, large-scale multi-view driving videos for tasks like 3D object detection, segmentation and trajectory prediction. While world models provide a cost-effective…

Robot learning of manipulation skills is hindered by the scarcity of diverse, unbiased datasets. While curated datasets can help, challenges remain in generalizability and real-world transfer. Meanwhile, large-scale "in-the-wild" video…

Robotic world models are a promising paradigm for forecasting future environment states, yet their inference speed and the physical plausibility of generated trajectories remain critical bottlenecks, limiting their real-world applications.…

Video generation models are rapidly improving in their ability to synthesize human actions in novel contexts, holding the potential to serve as high-level planners for contextual robot control. To realize this potential, a key research…

A key challenge in manipulation is learning a policy that can robustly generalize to diverse visual environments. A promising mechanism for learning robust policies is to leverage video generative models, which are pretrained on large-scale…

Envisioning physically plausible outcomes from a single image requires a deep understanding of the world's dynamics. To address this, we introduce PhysGen3D, a novel framework that transforms a single image into an amodal, camera-centric,…

This work explores whether a deep generative model can learn complex knowledge solely from visual input, in contrast to the prevalent focus on text-based models like large language models (LLMs). We develop VideoWorld, an auto-regressive…

Existing image-to-video generation methods often produce physically implausible motions and lack precise control over object dynamics. While prior approaches have incorporated physics simulators, they remain confined to 2D planar motions…

Humans develop an understanding of intuitive physics through active interaction with the world. This approach is in stark contrast to current video models, such as Sora, which rely on passive observation and therefore struggle with grasping…

Video-based world models have recently garnered increasing attention for their ability to synthesize diverse and dynamic visual environments. In this paper, we focus on shared world modeling, where a model generates multiple videos from a…

Robots operating in complex and uncertain environments face considerable challenges. Advanced robotic systems often rely on extensive datasets to learn manipulation tasks. In contrast, when humans are faced with unfamiliar tasks, such as…

Learning from Demonstration (LfD) offers a promising paradigm for robot skill acquisition. Recent approaches attempt to extract manipulation commands directly from video demonstrations, yet face two critical challenges: (1) general video…

Video generation models have achieved remarkable progress in creating high-quality, photorealistic content. However, their ability to accurately simulate physical phenomena remains a critical and unresolved challenge. This paper presents…

Video generation models are increasingly used as world simulators for storytelling, simulation, and embodied AI. As these models advance, a key question arises: do generated videos obey the physical laws of the real world? Existing…

Robotic manipulation requires anticipating how the environment evolves in response to actions, yet most existing systems lack this predictive capability, often resulting in errors and inefficiency. While Vision-Language Models (VLMs)…

Data-driven learning approaches for physics simulation, sometimes referred to as world models, have emerged as promising alternatives to traditional physics simulators due to their differentiable nature. Prior work has demonstrated…

Evaluating whether Multimodal Large Language Models (MLLMs) genuinely reason about physical dynamics remains challenging. Most existing benchmarks rely on recognition-style protocols such as Visual Question Answering (VQA) and Violation of…

Teaching robots novel behaviors typically requires motion demonstrations via teleoperation or kinaesthetic teaching, that is, physically guiding the robot. While recent work has explored using human sketches to specify desired behaviors,…