Human motion prediction requires diverse future trajectories that remain consistent with observed motion and the articulated physical structure of the body. Skeletal constraints restrict individual poses, while coordinated motion depends on spatial interactions (between connected joints) and temporal interactions (betw …
Contact-rich manipulation depends on force sensing that is hard to infer from visual signals alone, both for collecting demonstrations and for training policies. Force-annotated data, however, remains hard to obtain at scale: real-robot collection ties every demonstration to physical hardware, physics simulators report …
World action models (WAMs) that use future visual prediction at inference time incur substantial generation costs. Asynchronous execution reduces waiting by overlapping inference with robot motion, but visual predictions used for subsequent action generation must anticipate the effects of actions already scheduled for …