Unified World Models couple video and action diffusion inside one transformer with independent timesteps, enabling pretraining on heterogeneous robot datasets that include action-free video and producing more generalizable policies than imitation learning alone.
The cropping and augmentation parameters are kept temporally consistent across o and o′ but differ from camera view to camera view
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Unified World Models: Coupling Video and Action Diffusion for Pretraining on Large Robotic Datasets
Unified World Models couple video and action diffusion inside one transformer with independent timesteps, enabling pretraining on heterogeneous robot datasets that include action-free video and producing more generalizable policies than imitation learning alone.