Action-conditioned video world models predict future observations from an initial observation and an action signal. In robotics, actions influence future observations through two distinct processes: they are first realized into robot motion by the robot body…
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Research arXiv
Compositional generalization is essential for robot to follow diverse instructions. However, pretrained policies are known to take shortcuts, deferring to salient cues rather than grounding language. We introduce a diagnostic framework that localizes this…
Intelligence arXiv
Geometry Foundation Models (GFMs) have substantially advanced monocular 3D reconstruction, yet extending this capability to 4D dynamic understanding remains a fundamental challenge. Most existing motion perception methods (e.g., sparse tracking, dense…
Research arXiv
Unified multimodal models seek a shared visual token space that supports both multimodal understanding and image generation. Discrete methods unify the interface via a shared codebook, whereas continuous pipelines often rely on two disparate representations…
Research arXiv
Collision anticipation in autonomous driving requires not only accurate early warnings but also interpretable reasoning about what risk factors are being tracked and how risk evolves over time. Existing methods fall short in this regard: feature-driven models…
