6 papers
WorldOracle: Benchmarking Action-Conditioned World Models against Real-World Executions
Haoyi Duan, Liliang Chen, Nan Wang +13
We introduce WorldOracle, a benchmark specifically designed to evaluate action-conditioned world models (ACWMs) against paired real-world executions. Given the same initial observa…
SC3-Eval: Evaluating Robot Foundation Models via Self-Consistent Video Generation
Wei-Cheng Tseng, Gashon Hussein, Yuzhu Dong +9
Evaluating generalist robot manipulation policies in the real world is expensive, slow, and difficult to scale. Action-conditioned video world models offer a scalable alternative b…
Cosmos 3: Omnimodal World Models for Physical AI
NVIDIA, :, Aditi +293
We introduce Cosmos 3, a family of omnimodal world models designed to jointly process and generate language, image, video, audio, and action sequences within a unified mixture-of-t…
Optimal physical approximations of pure-state cloning and transposition are complementary channels
Vanessa Brzić, Dmitry Grinko, Michał Studziński +1
State cloning and state transposition are fundamental transformations that, despite being desirable, cannot be perfectly realised as a consequence of two distinct requirements of q…
Auden-Voice: General-Purpose Voice Encoder for Speech and Language Understanding
Mingyue Huo, Wei-Cheng Tseng, Yiwen Shao +2
Human voice encodes both identity and paralinguistic cues, yet encoders in large audio-language models (LALMs) rarely balance both aspects. In this work, we present a study toward…
Revisiting Audio-language Pretraining for Learning General-purpose Audio Representation
Wei-Cheng Tseng, Xuanru Zhou, Mingyue Huo +3
Audio-language pretraining (ALP) holds promise for learning general-purpose audio representation, yet remains underexplored. Crucially, there is no consensus on whether audio-langu…