A tri-branch diffusion model co-generates RGB, depth, and optical flow from a single RGB-D image, and an inverse dynamics head on its internal latents achieves state-of-the-art bimanual manipulation success rates.
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RynnWorld-4D: 4D Embodied World Models for Robotic Manipulation
A tri-branch diffusion model co-generates RGB, depth, and optical flow from a single RGB-D image, and an inverse dynamics head on its internal latents achieves state-of-the-art bimanual manipulation success rates.