pith:PJU6IWRD
DreamDojo: A Generalist Robot World Model from Large-Scale Human Videos
A world model pretrained on 44k hours of human videos transfers to robots with accurate physics and control after minimal fine-tuning.
arxiv:2602.06949 v1 · 2026-02-06 · cs.RO · cs.AI · cs.CV · cs.LG
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\pithnumber{PJU6IWRD6PMWYZPP66ML6CSIRS}
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Claims
After post-training on small-scale target robot data, DreamDojo demonstrates a strong understanding of physics and precise action controllability on multiple challenging out-of-distribution benchmarks.
Continuous latent actions learned from unlabeled human videos serve as effective proxy actions that transfer interaction knowledge to robot control without introducing domain gaps that degrade physics prediction.
DreamDojo is a foundation world model pretrained on the largest human video dataset to date that uses continuous latent actions to transfer interaction knowledge and achieves controllable physics simulation after robot post-training.
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| First computed | 2026-05-17T23:38:47.189361Z |
|---|---|
| Builder | pith-number-builder-2026-05-17-v1 |
| Signature | Pith Ed25519
(pith-v1-2026-05) · public key |
| Schema | pith-number/v1.0 |
Canonical hash
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· · · · ·Agent API
Verify this Pith Number yourself
curl -sH 'Accept: application/ld+json' https://pith.science/pith/PJU6IWRD6PMWYZPP66ML6CSIRS \
| jq -c '.canonical_record' \
| python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: 7a69e45a23f3d96c65eff798bf0a488c8a2a7b9eb7b175fa9bd5fb26d25d470c
Canonical record JSON
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