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· 2025 · arXiv 2509.25032

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cs.RO 1

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2026 1

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OSCAR: Omni-Embodiment Action-Conditioned World Model for Robotics

cs.RO · 2026-06-03 · unverdicted · novelty 6.0

OSCAR finetunes Cosmos-Predict2.5-2B on a deduplicated multi-embodiment robotics dataset with kinematic skeleton conditioning, claiming better action following and significant correlation between virtual and real robot policy evaluations.

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  • OSCAR: Omni-Embodiment Action-Conditioned World Model for Robotics cs.RO · 2026-06-03 · unverdicted · none · ref 34

    OSCAR finetunes Cosmos-Predict2.5-2B on a deduplicated multi-embodiment robotics dataset with kinematic skeleton conditioning, claiming better action following and significant correlation between virtual and real robot policy evaluations.