Projects

Abstract: The field of 4D world modeling - aiming to jointly capture spatial geometry and temporal dynamics - has witnessed remarkable progress in recent years, driven by advances in large-scale generative models and multimodal learning.

Abstract: We present WinT3R, a feed-forward reconstruction model capable of online prediction of precise camera poses and high-quality point maps. Previous methods suffer from a trade-off between reconstruction quality and real-time performance.

Abstract: We introduce ${\pi }^3$, a feed-forward neural network that offers a novel approach to visual geometry reconstruction, breaking the reliance on a conventional fixed reference view. Previous methods often anchor their reconstructions to a designated viewpoint, an inductive bias that can lead to instability and failures if the reference is suboptimal.

Abstract: In this paper, we introduce an innovative vector quantization based action tokenizer built upon the largest-scale action trajectory dataset to date, leveraging over 100 times more data than previous approaches.

Abstract: World models serve as essential building blocks toward Artificial General Intelligence (AGI), enabling intelligent agents to predict future states and plan actions by simulating complex physical interactions. However, existing interactive models primarily predict visual observations, thereby neglecting crucial hidden states like geometric structures and spatial coherence.

Abstract: Learning latent motion from Internet videos is crucial for building generalist robots. However, existing discrete latent action methods suffer from information loss and struggle with complex and fine-grained dynamics. We propose CoMo, which aims to learn more informative continuous motion representations from diverse, internet-scale videos.

A geometric-aware unified world model, capable of 4D reconstruction, action-conditioned prediction, and visual planning.

Abstract: Learning from multiple domains is a primary factor that influences the generalization of a single unified robot system. In this paper, we aim to learn the trajectory prediction model by using broad out-of-domain data to improve its performance and generalization ability.

A novel representation learning framework that emphasizes the importance of 3D spatial awareness in embodied AI.

Extensive experiments prove that point cloud observations are beneficial for robot learning.