相关论文: Causal World Modeling for Robot Control

Forecasting a typical object's future motion is a critical task for interpreting and interacting with dynamic environments in computer vision. Event-based sensors, which could capture changes in the scene with exceptional temporal…

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 order to autonomously learn wide repertoires of complex skills, robots must be able to learn from their own autonomously collected data, without human supervision. One learning signal that is always available for autonomously collected…

Predicting future scene representations is a crucial task for enabling robots to understand and interact with the environment. However, most existing methods rely on videos and simulations with precise action annotations, limiting their…

We present DINO-world, a powerful generalist video world model trained to predict future frames in the latent space of DINOv2. By leveraging a pre-trained image encoder and training a future predictor on a large-scale uncurated video…

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…

World models enable agents to plan by imagining future states, but existing approaches operate from a single viewpoint, typically egocentric, even when other perspectives would make planning easier; navigation, for instance, benefits from a…

World foundation models aim to simulate the evolution of the real world with physically plausible behavior. Unlike prior methods that handle spatial and temporal correlations separately, we propose RAYNOVA, a geometry-agonistic multiview…

Pretrained foundation models have become an important basis for end-to-end autonomous driving. In contrast to vision-language models pretrained primarily on static image-text pairs, video generative models capture temporal dynamics and…

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…

World models are becoming central to robotic planning and control as they enable prediction of future state transitions. Existing approaches often emphasize video generation or natural-language prediction, which are difficult to ground in…

Planning for robotic manipulation requires reasoning about the changes a robot can affect on objects. When such interactions can be modelled analytically, as in domains with rigid objects, efficient planning algorithms exist. However, in…

Vision-language-action (VLA) models have advanced robot manipulation through large-scale pretraining, but real-world deployment remains challenging due to partial observability and delayed feedback. Reinforcement learning addresses this via…

The feasibility of collecting a large amount of expert demonstrations has inspired growing research interests in learning-to-drive settings, where models learn by imitating the driving behaviour from experts. However, exclusively relying on…

Generalist robot policies can now perform a wide range of manipulation skills, but evaluating and improving their ability with unfamiliar objects and instructions remains a significant challenge. Rigorous evaluation requires a large number…

Moving in dynamic pedestrian environments is one of the important requirements for autonomous mobile robots. We present a model-based reinforcement learning approach for robots to navigate through crowded environments. The navigation policy…

End-to-end autonomous driving models based on Vision-Language-Action (VLA) architectures have shown promising results by learning driving policies through behavior cloning on expert demonstrations. However, imitation learning inherently…

Vision-Language-Action (VLA) models offer a compelling framework for tackling complex robotic manipulation tasks, but they are often expensive to train. In this paper, we propose a novel VLA approach that leverages the competitive…

Reinforcement learning (RL) can refine Vision-Language-Action (VLA) policies beyond behavior cloning, but real-world RL remains expensive due to extensive rollouts, resets, supervision, and safety risks. Action-conditioned video world…

Predictive manipulation has recently gained considerable attention in the Embodied AI community due to its potential to improve robot policy performance by leveraging predicted states. However, generating accurate future visual states of…