RynnWorld-4D: A 4D Embodied World Model for Robot Manipulation
Haoyu Zhao · hf · 2026-07-08
The paper proposes a multimodal 4D world model that simultaneously generates RGB videos, depth maps, and optical flow data from a single RGB-D image and language instruction. It achieves efficient robot manipulation by integrating a unified diffusion process with inverse dynamics policy learning. By unifying multiple sensing modalities within a single generative framework, this model lowers the training data barrier for robotic manipulation policies.
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