SimForcing: Distilling Simulation Motion Priors into Real-Domain Robot World Models
Action-conditioned robot world models must respond precisely to robot trajectories while preserving realistic visual dynamics, yet learning both from heterogeneous robot videos remains challenging. Simulation offers structured motion supervision, but appearance differences hinder direct transfer, and inaccurate simulat...
Xiao-Dong Wang, Tian-Le Li, Chuan-Xin Song et al.
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