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IOI: Decoupling Kinematics and Physics for Interactive World Models
Chengyu Bai, Peidong Jia, Tiecheng Guo +11
Developing generalist embodied agents requires interactive environments providing visually realistic feedback and accurate action-conditioned dynamics. Interactive world models add…
MV-WAM: Manifold-Aware World Action Model with Value Augmentation
Jintao Chen, Peidong Jia, Qingpo Wuwu +13
Achieving robust and generalizable manipulation across diverse environments remains a fundamental challenge in embodied robotics. Recent world action models achieve strong in-domai…
SafeDojo: Safe Reinforcement Learning for VLA via Interactive World Model
Kai Tang, Peidong Jia, Zhong Chu +16
Safe control is a prerequisite for real-world embodied intelligence, for which safe reinforcement learning has emerged as a promising paradigm. However, existing safe reinforcement…
VEGA: Visual Encoder Grounding Alignment for Spatially-Aware Vision-Language-Action Models
Hao Wang, Xiaobao Wei, Jingyang He +10
Precise spatial reasoning is fundamental to robotic manipulation, yet the visual backbones of current vision-language-action (VLA) models are predominantly pretrained on 2D image d…
Wow, wo, val! A Comprehensive Embodied World Model Evaluation Turing Test
Chun-Kai Fan, Xiaowei Chi, Xiaozhu Ju +18
As world models gain momentum in Embodied AI, an increasing number of works explore using video foundation models as predictive world models for downstream embodied tasks like 3D p…
WoW: Towards a World omniscient World model Through Embodied Interaction
Xiaowei Chi, Peidong Jia, Chun-Kai Fan +33
Humans develop an understanding of intuitive physics through active interaction with the world. This approach is in stark contrast to current video models, such as Sora, which rely…
Robobench: A Comprehensive Evaluation Benchmark for Multimodal Large Language Models as Embodied Brain
Yulin Luo, Chun-Kai Fan, Menghang Dong +19
Building robots that can perceive, reason, and act in dynamic, unstructured environments remains a central challenge. Recent embodied systems often follow a dual-system paradigm, w…