菜单

关于 🐙 GitHub
arXiv 提交日期: 2026-06-01
📄 Abstract - RoboDream: Compositional World Models for Scalable Robot Data Synthesis

Scaling robot learning requires large-scale, diverse demonstrations, yet real-world data collection via teleoperation remains prohibitively expensive and time-consuming. While video diffusion models offer a promising avenue for data scaling, existing generative approaches are often limited to superficial visual augmentation, or suffer from embodiment hallucinations that yield physically infeasible motions. We present a generalizable embodiment-centric world model that achieves scalable data generation by synthesizing photorealistic demonstrations with novel objects, in novel scenes, and from novel viewpoints. Our approach anchors generation to rendered robot motion while conditioning on explicit scene and object priors, effectively decoupling trajectory execution from environment synthesis. This formulation has the potential to unlock two powerful data scaling capabilities: (1) retrieval and rebirth, which repurposes existing trajectories into entirely new contexts without new motion data; and (2) prop-free teleoperation, where operators manipulate empty air and the model hallucinates the target objects and scene afterwards, eliminating reset time. We demonstrate with real-world experiments that our generated data consistently improves downstream policy performance and significantly reduces real-world data requirements across diverse manipulation tasks.

顶级标签: robotics data video generation
详细标签: robot data synthesis world models embodiment-centric video diffusion models manipulation 或 搜索:

RoboDream:面向可扩展机器人数据合成的组合式世界模型 / RoboDream: Compositional World Models for Scalable Robot Data Synthesis


1️⃣ 一句话总结

本文提出了一种名为RoboDream的机器人世界模型,它能基于少量真实数据,通过将机器人运动轨迹与虚拟场景、物体自由组合,自动生成大量逼真的新演示数据,从而大幅降低机器人学习所需的人工数据采集成本和耗时。

源自 arXiv: 2606.02577