Learning Action-Conditional and Object-Centric Gaussian Splatting World Models for Rigid Objects

arXiv:2606.01950 · cs.RO, cs.CV, cs.LG · Submitted 2026-06-01 · Read on arXiv

cs.RO, cs.CV, cs.LG

Submitted: 2026-06-01

Updated: 2026-10-26

Terminology

• World Model — 3× in this paper · explained in 8 episodes
• Gaussian Splatting — 1× in this paper · explained in 5 episodes
• Transformer — 1× in this paper · explained in 2 episodes
• Transformer Architecture — 1× in this paper · explained in 4 episodes

Related papers

• FMT x: An Efficient and Asymptotically Optimal Extension of the Fast Marching Tree for Dynamic Replanning
• MPCFormer: A physics-informed data-driven approach for explainable socially-aware autonomous driving
• RoboLab: A High-Fidelity Simulation Benchmark for Analysis of Task Generalist Policies
• ARC: A Reasoning Recipe for Robot Foundation Models
• HRDexDB: A 4D Dexterous Grasping Dataset Across Human and Multiple Robot Embodiments
• APT: Action Expert Pretraining Improves Instruction Generalization of Vision-Language-Action Policies