A vision-language framework generates text-based rigid-body scene configurations from videos using motion reasoning and optical flow, reporting 0.30 IoU on CLEVRER (7x over baselines) and transfer to 235 real videos.
gradsim: Differentiable simulation for sys- tem identification and visuomotor control
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DRIS improves zero-shot sim-to-real transfer for reactive catching by maintaining and acting on sets of randomized dynamics instances instead of single instances per episode.
Embodied AI requires query-conditioned world models that select the simplest physical abstraction sufficient to answer intervention queries.
The authors develop a differentiable simulator enforcing Markovian dynamics on a position-velocity manifold and using a mass-aligned preconditioner with a soft Fischer-Burmeister operator to produce stable gradients for frictional contact in large-deformation scenarios.
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Physically Viable World Models: A Case for Query-Conditioned Embodied AI
Embodied AI requires query-conditioned world models that select the simplest physical abstraction sufficient to answer intervention queries.