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This work uses a frozen action-conditioned world model to predict action-conditioned consequences and construct feedback based on consistency between the two future predictions and alignment with the terminal goal to show that cross-model prediction discrepancy can provide useful feedback for improving robot policies u...
This work organizes the embodied data ecosystem as a pyramidspanning five complementary sources: real-robot data, UMI-style data, egocentric and exocentric data, simulation data, and general vision-language data, and further characterize each source in terms of data quality, diversity, reusability, and physical fidelit...
DynamicWAM introduces history-flow conditioning, encoding temporally aligned optical-flow frames alongside the current observation through a frozen pretrained video VAE to preserve spatial motion structure, while injecting kinematic descriptors of displacement, duration, velocity, and acceleration into the action exper...
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