arXiv:2606. 16202v1 Announce Type: cross Abstract: Humans naturally understand object physics through everyday interactions, but faithfully predicting complex deformable dynamics, such as elastic materials and fabrics, remains a major challenge for computer vision and robotics.
arXiv:2606. 08057v1 Announce Type: cross Abstract: Egocentric RGB-D videos offer a natural source of human dexterous manipulation demonstrations, but existing data is difficult to use for robot learning because object pose, geometry, and contact information are often missing or require pre-scanned object assets.
World models endow perceptual systems with the ability to predict how scenes evolve under interaction. They are most beneficial when trained on diverse volumes of data, to instill a rich prior into do...
arXiv:2609.19142v1 Announce Type: new Abstract: World models endow perceptual systems with the ability to predict how scenes evolve under interaction. They are most beneficial when trained on diverse...
Predicting object dynamics (i. e.
arXiv:2604. 01001v2 Announce Type: replace-cross Abstract: We introduce EgoSim, a closed-loop egocentric world simulator that generates spatially consistent interaction videos and persistently updates the underlying 3D scene state for continuous simulation.
Recent advances in image-to-video generation have improved visual realism, making physically grounded and controllable dynamics an important step toward future world simulation. Current models often generate plausible motion, but it is not reliably governed by explicit physical causes, and instance-level constraints can leak or become entangled in multi-object interactions.
arXiv:2609.19119v1 Announce Type: new Abstract: Human videos contain rich causal evidence for robot manipulation: they reveal how hand motion induces object motion and produces task-relevant changes...
Reconstructing dynamic and interactive 3D scenes from real-world observations remains a fundamental challenge in computer vision and robotics. While recent advances in 3D Gaussian Splatting have enabled high-fidelity static reconstruction, extending it to interactive environments with articulated robots and manipulable objects remains difficult due to complex contact interactions and abrupt pose changes.
arXiv:2606. 30645v1 Announce Type: cross Abstract: Perception-based humanoid loco-manipulation requires connecting egocentric observations and task instructions to whole-body motion.
arXiv:2610.01092v1 Announce Type: new Abstract: Video generation models are increasingly being explored as world simulators for embodied planning and learning. To do so effectively, these models must...
arXiv:2609.37067v1 Announce Type: cross Abstract: Visually plausible articulated assets may still fail during contact interactions or exhibit inaccurate motion. We present FACT (Fidelity-Aware Constr...
Perception-based humanoid loco-manipulation requires connecting egocentric observations and task instructions to whole-body motion. Learning this mapping requires synchronized egocentric images, language commands, and robot-compatible kinematic trajectories, yet no existing data source provides this complete tuple at scale.