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About this paper
Jimmy Wang, Yifan Chou, Kaifeng Zhang, Yixuan Wang, Binghao Huang, Tao Yu, Saleh Nabi, Yunzhu Li
3D World Simulator predicts robot-manipulated scenes in a shared 3D representation, encoding camera-derived point clouds into voxel latents and decoding predicted states into geometry, renderable images, and tactile points. On six ALOHA tasks, its 200-frame open-loop PSNR is 23.24 versus 20.59 for Robot4DGen. On held-out Deform360 objects, geometry improves over particle baselines, but image metrics are worse.
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