Egocentric human video offers a scalable data source for dexterous manipulation, yet using it to train humanoid robots presents two challenges: (1) an embodiment gap, as human hands differ structurally from robot end-effectors and low-cost egocentric recordings lack the torso kinematics required by conventional retarge...
Hui-Min Pan, Y. Ren, Kun-Peng Song et al.· 0 citations
A general-purpose robot needs to draw on diverse experience, choose actions, and anticipate how those actions will change the world. We introduce XPACE, a unified embodied world model that serves as both a world action model, jointly predicting executable robot actions and future video, and a world simulator, predictin...
AnyWorld is proposed, a cross-embodiment world modeling framework that expands a single human interaction into diverse robot-native rollouts without paired human-robot demonstrations and enables independent recomposition of embodiment, viewpoint, and scene factors, allowing a single model to generate many robot-domain...
Cheng Chen, J. Bai, Jiacheng Wei et al.· 3 citations
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