机器人 / 具身智能 - arXivDaily 专题

2512.11225 2025-12-15 cs.CV cs.AI cs.LG 82%

VFMF: World Modeling by Forecasting Vision Foundation Model Features

VFMF：通过预测视觉基础模型特征进行世界建模

Gabrijel Boduljak, Yushi Lan, Christian Rupprecht, Andrea Vedaldi

专题命中具身推理：world model(title,abstract)；分类 cs.AI、cs.CV、cs.LG

AI总结本文提出了一种基于VFM特征的生成预测器，通过自回归流匹配在潜在空间中实现更准确的预测，提升世界建模的效率和效果。

2507.13162 2025-12-12 cs.CV cs.AI cs.LG 82%

Orbis: Overcoming Challenges of Long-Horizon Prediction in Driving World Models

Orbis：克服驾驶世界模型中长周期预测的挑战

Arian Mousakhan, Sudhanshu Mittal, Silvio Galesso, Karim Farid, Thomas Brox

专题命中具身推理：world model(title,abstract)；分类 cs.AI、cs.CV、cs.LG

AI总结 Orbis通过简单设计实现自动驾驶世界模型在长周期预测和复杂场景中的高性能，采用连续自回归模型优于离散token模型。

Comments Project page: https://lmb-freiburg.github.io/orbis.github.io/

2511.19584 2025-12-03 cs.LG cs.CV cs.RO 82%

Learning Massively Multitask World Models for Continuous Control

学习大规模多任务世界模型用于连续控制

Nicklas Hansen, Hao Su, Xiaolong Wang

机构 * University of California San Diego（加州大学圣地亚哥分校）

专题命中具身推理：world model(title,abstract)；分类 cs.RO、cs.CV、cs.LG

AI总结 Newt通过大规模预训练和在线交互，实现智能体在数百个任务上的多任务学习，提升连续控制的效率和适应性。

Comments Webpage: https://www.nicklashansen.com/NewtWM

2510.19654 2025-11-26 cs.CV cs.AI cs.CL cs.RO 82%

From Forecasting to Planning: Policy World Model for Collaborative State-Action Prediction

从预测到规划：用于协作状态-动作预测的策略世界模型

Zhida Zhao, Talas Fu, Yifan Wang, Lijun Wang, Huchuan Lu

机构 * Dalian University of Technology（大连理工大学）

专题命中具身推理：world model(title,abstract)；分类 cs.RO、cs.AI、cs.CV

AI总结本文提出策略世界模型（PWM），通过整合世界建模与轨迹规划，并利用无动作未来状态预测提升规划性能，实现更可靠的自主驾驶决策。

Comments Accepted by NuerIPS 2025 (Poster)

2511.09057 2025-11-18 cs.CV cs.AI cs.CL cs.LG 82%

PAN: A World Model for General, Interactable, and Long-Horizon World Simulation

PAN Team, Jiannan Xiang, Yi Gu, Zihan Liu, Zeyu Feng, Qiyue Gao, Yiyan Hu, Benhao Huang, Guangyi Liu, Yichi Yang, Kun Zhou, Davit Abrahamyan, Arif Ahmad, Ganesh Bannur, Junrong Chen, Kimi Chen, Mingkai Deng, Ruobing Han, Xinqi Huang, Haoqiang Kang, Zheqi Liu, Enze Ma, Hector Ren, Yashowardhan Shinde, Rohan Shingre, Ramsundar Tanikella, Kaiming Tao, Dequan Yang, Xinle Yu, Cong Zeng, Binglin Zhou, Zhengzhong Liu, Zhiting Hu, Eric P. Xing

机构 * Mohamed bin Zayed University of Artificial Intelligence（穆罕默德·本·扎耶德人工智能大学）

专题命中具身推理：world model(title,abstract)；分类 cs.AI、cs.CV、cs.LG

2506.01622 2025-10-21 cs.AI cs.LG cs.RO stat.ML 82%

General agents contain world models

Jonathan Richens, David Abel, Alexis Bellot, Tom Everitt

机构 * Google DeepMind（谷歌DeepMind）

专题命中具身推理：world model(title,abstract)；分类 cs.RO、cs.AI、cs.LG

Comments Accepted ICML 2025. Typos corrected

2510.14977 2025-10-17 cs.CV cs.AI cs.LG 82%

Terra: Explorable Native 3D World Model with Point Latents

Yuanhui Huang, Weiliang Chen, Wenzhao Zheng, Xin Tao, Pengfei Wan, Jie Zhou, Jiwen Lu

机构 * Tsinghua University（清华大学）； Kuaishou Technology（快手科技）

专题命中具身推理：world model(title,abstract)；分类 cs.AI、cs.CV、cs.LG

Comments Project Page: https://huang-yh.github.io/terra/

2510.03727 2025-10-07 cs.AI cs.CL cs.CV cs.LG 82%

Bridging the Gap Between Multimodal Foundation Models and World Models

Xuehai He

机构 * Computer Science and Engineering University of California, Santa Cruz（计算机科学与工程大学加州大学圣克ruz分校）

专题命中具身推理：world model(title,abstract)；分类 cs.AI、cs.CV、cs.LG

Comments PhD thesis

2510.00855 2025-10-02 cs.CV cs.AI cs.CL cs.LG 82%

Can World Models Benefit VLMs for World Dynamics?

Kevin Zhang, Kuangzhi Ge, Xiaowei Chi, Renrui Zhang, Shaojun Shi, Zhen Dong, Sirui Han, Shanghang Zhang

机构 * Peking University（北京大学）； Hong Kong University of Science and Technology（香港科学与技术大学）； Chinese University of Hong Kong（香港中文大学）； University of California, Santa Barbara（加州大学圣芭芭拉分校）

专题命中具身推理：world model(title,abstract)；分类 cs.AI、cs.CV、cs.LG

Comments Project page: https://dyva-worldlm.github.io

2509.09737 2025-09-15 cs.CV cs.AI cs.LG 82%

World Modeling with Probabilistic Structure Integration

Klemen Kotar, Wanhee Lee, Rahul Venkatesh, Honglin Chen, Daniel Bear, Jared Watrous, Simon Kim, Khai Loong Aw, Lilian Naing Chen, Stefan Stojanov, Kevin Feigelis, Imran Thobani, Alex Durango, Khaled Jedoui, Atlas Kazemian, Dan Yamins

机构 * Stanford NeuroAI Lab（斯坦福神经人工智能实验室）

专题命中具身推理：world model(title,abstract)；分类 cs.AI、cs.CV、cs.LG

2507.13871 2025-07-21 cs.RO cs.CV cs.LG cs.SY eess.SY 82%

Safety Certification in the Latent space using Control Barrier Functions and World Models

Mehul Anand, Shishir Kolathaya

机构 * Indian Institute of Technology, Roorkee（印度理工学院，罗尔基）

专题命中具身推理：world model(title,abstract)；分类 cs.RO、cs.CV、cs.LG

Comments 6 pages, 6 figures. arXiv admin note: text overlap with arXiv:2409.12616

2507.12496 2025-07-18 cs.RO cs.AI cs.LG 82%

FOUNDER: Grounding Foundation Models in World Models for Open-Ended Embodied Decision Making

Yucen Wang, Rui Yu, Shenghua Wan, Le Gan, De-Chuan Zhan

机构 * School of Artificial Intelligence, Nanjing University, China（人工智能学院，南京大学）； National Key Laboratory for Novel Software Technology, Nanjing University, China（新型软件技术国家重点实验室，南京大学）

专题命中具身推理：world model(title,abstract)；分类 cs.RO、cs.AI、cs.LG

Comments Accepted by Forty-Second International Conference on Machine Learning (ICML 2025)

2507.05198 2025-07-08 cs.RO cs.AI cs.CV 82%

EmbodieDreamer: Advancing Real2Sim2Real Transfer for Policy Training via Embodied World Modeling

Boyuan Wang, Xinpan Meng, Xiaofeng Wang, Zheng Zhu, Angen Ye, Yang Wang, Zhiqin Yang, Chaojun Ni, Guan Huang, Xingang Wang

机构 * GigaAI ； Institute of Automation, Chinese Academy of Sciences（自动化研究所）； Peking University（北京大学）

专题命中具身推理：world model(title)；embodied AI(abstract)；分类 cs.RO、cs.AI、cs.CV

Comments Project Page: https://embodiedreamer.github.io/

2506.01600 2025-06-03 cs.RO cs.AI cs.CV 82%

WoMAP: World Models For Embodied Open-Vocabulary Object Localization

Tenny Yin, Zhiting Mei, Tao Sun, Lihan Zha, Emily Zhou, Jeremy Bao, Miyu Yamane, Ola Shorinwa, Anirudha Majumdar

机构 * Princeton University（普林斯顿大学）； McGill University（麦吉尔大学）

专题命中具身推理：world model(title,abstract)；分类 cs.RO、cs.AI、cs.CV

2503.04416 2025-05-27 cs.LG cs.AI cs.CV 82%

Learning Transformer-based World Models with Contrastive Predictive Coding

Maxime Burchi, Radu Timofte

机构 * Computer Vision Lab, CAIDAS & IFI, University of Würzburg（计算机视觉实验室、CAIDAS与IFI、乌尔姆大学）

专题命中具身推理：world model(title,abstract)；分类 cs.AI、cs.CV、cs.LG

2505.15589 2025-05-22 cs.LG cs.AI cs.RO cs.SY eess.SY 82%

World Models as Reference Trajectories for Rapid Motor Adaptation

Carlos Stein Brito, Daniel McNamee

机构 * NightCity Labs（NightCity实验室）； Champalimaud Centre for the Unknown（Champalimaud未知中心）

专题命中具身推理：world model(title,abstract)；分类 cs.RO、cs.AI、cs.LG

2405.18418 2025-05-16 cs.LG cs.CV cs.RO 82%

Hierarchical World Models as Visual Whole-Body Humanoid Controllers

Nicklas Hansen, Jyothir S, Vlad Sobal, Yann LeCun, Xiaolong Wang, Hao Su

机构 * UC San Diego（UC圣地亚哥大学）； New York University（纽约大学）； Meta AI

专题命中具身推理：world model(title,abstract)；分类 cs.RO、cs.CV、cs.LG

Comments Code and videos at https://nicklashansen.com/rlpuppeteer

2410.02253 2025-04-22 cs.AI cs.LG cs.RO 82%

From Imitation to Exploration: End-to-end Autonomous Driving based on World Model

Yueyuan Li, Mingyang Jiang, Songan Zhang, Wei Yuan, Chunxiang Wang, Ming Yang

机构 * Department of Automation, Shanghai Jiao Tong University（自动化系，上海交通大学）； Key Laboratory of System Control and Information Processing, Ministry of Education of China（系统控制与信息处理重点实验室，中华人民共和国教育部）； Global Institute of Future Technology, Shanghai Jiao Tong University（未来技术全球研究院，上海交通大学）

专题命中具身推理：world model(title,abstract)；分类 cs.RO、cs.AI、cs.LG

Comments 12 pages, 4 figures, 3 tables; T-ITS under review

2501.14174 2025-04-11 cs.CV cs.AI cs.LG 82%

Dreamweaver: Learning Compositional World Models from Pixels

Junyeob Baek, Yi-Fu Wu, Gautam Singh, Sungjin Ahn

专题命中具身推理：world model(title,abstract)；分类 cs.AI、cs.CV、cs.LG

2504.02252 2025-04-04 cs.LG cs.AI cs.RO 82%

Adapting World Models with Latent-State Dynamics Residuals

JB Lanier, Kyungmin Kim, Armin Karamzade, Yifei Liu, Ankita Sinha, Kat He, Davide Corsi, Roy Fox

专题命中具身推理：world model(title,abstract)；分类 cs.RO、cs.AI、cs.LG

Comments 15 pages, 11 figures. Project website at https://redraw.jblanier.net/

2503.20523 2025-03-27 cs.CV cs.AI cs.RO 82%

GAIA-2: A Controllable Multi-View Generative World Model for Autonomous Driving

Lloyd Russell, Anthony Hu, Lorenzo Bertoni, George Fedoseev, Jamie Shotton, Elahe Arani, Gianluca Corrado

专题命中具身推理：world model(title,abstract)；分类 cs.RO、cs.AI、cs.CV

Comments Technical Report

2503.15168 2025-03-20 cs.AI cs.CV cs.ET cs.LG 82%

World Models in Artificial Intelligence: Sensing, Learning, and Reasoning Like a Child

Javier Del Ser, Jesus L. Lobo, Heimo Müller, Andreas Holzinger

专题命中具身推理：world model(title,abstract)；分类 cs.AI、cs.CV、cs.LG

Comments 11 pages, 1 figure

2503.08122 2025-03-12 cs.LG cs.AI cs.CV 82%

Toward Stable World Models: Measuring and Addressing World Instability in Generative Environments

Soonwoo Kwon, Jin-Young Kim, Hyojun Go, Kyungjune Baek

专题命中具身推理：world model(title,abstract)；分类 cs.AI、cs.CV、cs.LG

Comments Preprint

2501.16733 2025-01-29 cs.RO cs.CV cs.LG 82%

Dream to Drive with Predictive Individual World Model

Yinfeng Gao, Qichao Zhang, Da-wei Ding, Dongbin Zhao

专题命中具身推理：world model(title,abstract)；分类 cs.RO、cs.CV、cs.LG

Comments Codes: https://github.com/gaoyinfeng/PIWM

2412.10373 2024-12-16 cs.CV cs.AI cs.LG 82%

GaussianWorld: Gaussian World Model for Streaming 3D Occupancy Prediction

Sicheng Zuo, Wenzhao Zheng, Yuanhui Huang, Jie Zhou, Jiwen Lu

专题命中具身推理：world model(title,abstract)；分类 cs.AI、cs.CV、cs.LG

Comments Code is available at: https://github.com/zuosc19/GaussianWorld

2412.09627 2024-12-13 cs.CV cs.AI cs.LG 82%

Doe-1: Closed-Loop Autonomous Driving with Large World Model

Wenzhao Zheng, Zetian Xia, Yuanhui Huang, Sicheng Zuo, Jie Zhou, Jiwen Lu

专题命中具身推理：world model(title,abstract)；分类 cs.AI、cs.CV、cs.LG

Comments Code is available at: https://github.com/wzzheng/Doe

2412.09600 2024-12-13 cs.CV cs.AI cs.LG 82%

Owl-1: Omni World Model for Consistent Long Video Generation

Yuanhui Huang, Wenzhao Zheng, Yuan Gao, Xin Tao, Pengfei Wan, Di Zhang, Jie Zhou, Jiwen Lu

专题命中具身推理：world model(title,abstract)；分类 cs.AI、cs.CV、cs.LG

Comments Code is available at: https://github.com/huang-yh/Owl

2411.02914 2024-11-06 cs.AI cs.CV cs.RO 82%

Exploring the Interplay Between Video Generation and World Models in Autonomous Driving: A Survey

Ao Fu, Yi Zhou, Tao Zhou, Yi Yang, Bojun Gao, Qun Li, Guobin Wu, Ling Shao

专题命中具身推理：world model(title,abstract)；分类 cs.RO、cs.AI、cs.CV

2405.12399 2024-10-31 cs.LG cs.AI cs.CV 82%

Diffusion for World Modeling: Visual Details Matter in Atari

Eloi Alonso, Adam Jelley, Vincent Micheli, Anssi Kanervisto, Amos Storkey, Tim Pearce, François Fleuret

专题命中具身推理：world model(title,abstract)；分类 cs.AI、cs.CV、cs.LG

Comments NeurIPS 2024 (Spotlight)

2406.19320 2024-06-28 cs.LG cs.AI cs.CV 82%

Efficient World Models with Context-Aware Tokenization

Vincent Micheli, Eloi Alonso, François Fleuret

专题命中具身推理：world model(title,abstract)；分类 cs.AI、cs.CV、cs.LG

Comments ICML 2024

1. 具身推理 3082 篇

VFMF: World Modeling by Forecasting Vision Foundation Model Features

Orbis: Overcoming Challenges of Long-Horizon Prediction in Driving World Models

Learning Massively Multitask World Models for Continuous Control

From Forecasting to Planning: Policy World Model for Collaborative State-Action Prediction

PAN: A World Model for General, Interactable, and Long-Horizon World Simulation

General agents contain world models

Terra: Explorable Native 3D World Model with Point Latents

Bridging the Gap Between Multimodal Foundation Models and World Models

Can World Models Benefit VLMs for World Dynamics?

World Modeling with Probabilistic Structure Integration

Safety Certification in the Latent space using Control Barrier Functions and World Models

FOUNDER: Grounding Foundation Models in World Models for Open-Ended Embodied Decision Making

EmbodieDreamer: Advancing Real2Sim2Real Transfer for Policy Training via Embodied World Modeling

WoMAP: World Models For Embodied Open-Vocabulary Object Localization

Learning Transformer-based World Models with Contrastive Predictive Coding

World Models as Reference Trajectories for Rapid Motor Adaptation

Hierarchical World Models as Visual Whole-Body Humanoid Controllers

From Imitation to Exploration: End-to-end Autonomous Driving based on World Model

Dreamweaver: Learning Compositional World Models from Pixels

Adapting World Models with Latent-State Dynamics Residuals

GAIA-2: A Controllable Multi-View Generative World Model for Autonomous Driving

World Models in Artificial Intelligence: Sensing, Learning, and Reasoning Like a Child

Toward Stable World Models: Measuring and Addressing World Instability in Generative Environments

Dream to Drive with Predictive Individual World Model

GaussianWorld: Gaussian World Model for Streaming 3D Occupancy Prediction

Doe-1: Closed-Loop Autonomous Driving with Large World Model

Owl-1: Omni World Model for Consistent Long Video Generation

Exploring the Interplay Between Video Generation and World Models in Autonomous Driving: A Survey

Diffusion for World Modeling: Visual Details Matter in Atari

Efficient World Models with Context-Aware Tokenization