PhysGen uses video models to learn physics for robots, outperforming baselines by up to 13.8% on Libero and matching specialized models in real-world tasks.
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OOWM models the world as an explicit symbolic tuple with UML diagrams and trains via SFT plus GRPO to outperform text-based CoT on embodied planning benchmarks.
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Learning Physics from Pretrained Video Models: A Multimodal Continuous and Sequential World Interaction Models for Robotic Manipulation
PhysGen uses video models to learn physics for robots, outperforming baselines by up to 13.8% on Libero and matching specialized models in real-world tasks.
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OOWM: Structuring Embodied Reasoning and Planning via Object-Oriented Programmatic World Modeling
OOWM models the world as an explicit symbolic tuple with UML diagrams and trains via SFT plus GRPO to outperform text-based CoT on embodied planning benchmarks.