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cs.RO2026
Geometry Conditioning in an Embodied SLM: Training Controls and Robustness Diagnostics in a 0.8B Hybrid Model
Hao Li, Haofei Sun, Lin He
We study how physical-state inputs affect a 0.8B hybrid language model adapted for manipulation with 6.2M trainable parameters. Six conditions are trained on three LIBERO-Spatial t…
cs.RO2026
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…
cs.RO2025
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…