EPISODE · Mar 19, 2026 · 23 MIN
Kinema4D: Kinematic 4D World Modeling for Spatiotemporal Embodied Simulation
from Daily Paper Cast · host Jingwen Liang, Gengyu Wang
🤗 Upvotes: 64 | cs.RO, cs.CV Authors: Mutian Xu, Tianbao Zhang, Tianqi Liu, Zhaoxi Chen, Xiaoguang Han, Ziwei Liu Title: Kinema4D: Kinematic 4D World Modeling for Spatiotemporal Embodied Simulation Arxiv: http://arxiv.org/abs/2603.16669v1 Abstract: Simulating robot-world interactions is a cornerstone of Embodied AI. Recently, a few works have shown promise in leveraging video generations to transcend the rigid visual/physical constraints of traditional simulators. However, they primarily operate in 2D space or are guided by static environmental cues, ignoring the fundamental reality that robot-world interactions are inherently 4D spatiotemporal events that require precise interactive modeling. To restore this 4D essence while ensuring the precise robot control, we introduce Kinema4D, a new action-conditioned 4D generative robotic simulator that disentangles the robot-world interaction into: i) Precise 4D representation of robot controls: we drive a URDF-based 3D robot via kinematics, producing a precise 4D robot control trajectory. ii) Generative 4D modeling of environmental reactions: we project the 4D robot trajectory into a pointmap as a spatiotemporal visual signal, controlling the generative model to synthesize complex environments' reactive dynamics into synchronized RGB/pointmap sequences. To facilitate training, we curated a large-scale dataset called Robo4D-200k, comprising 201,426 robot interaction episodes with high-quality 4D annotations. Extensive experiments demonstrate that our method effectively simulates physically-plausible, geometry-consistent, and embodiment-agnostic interactions that faithfully mirror diverse real-world dynamics. For the first time, it shows potential zero-shot transfer capability, providing a high-fidelity foundation for advancing next-generation embodied simulation.
What this episode covers
🤗 Upvotes: 64 | cs.RO, cs.CV Authors: Mutian Xu, Tianbao Zhang, Tianqi Liu, Zhaoxi Chen, Xiaoguang Han, Ziwei Liu Title: Kinema4D: Kinematic 4D World Modeling for Spatiotemporal Embodied Simulation Arxiv: http://arxiv.org/abs/2603.16669v1 Abstract: Simulating robot-world interactions is a cornerstone of Embodied AI. Recently, a few works have shown promise in leveraging video generations to transcend the rigid visual/physical constraints of traditional simulators. However, they primarily operate in 2D space or are guided by static environmental cues, ignoring the fundamental reality that robot-world interactions are inherently 4D spatiotemporal events that require precise interactive modeling. To restore this 4D essence while ensuring the precise robot control, we introduce Kinema4D, a new action-conditioned 4D generative robotic simulator that disentangles the robot-world interaction into: i) Precise 4D representation of robot controls: we drive a URDF-based 3D robot via kinematics, producing a precise 4D robot control trajectory. ii) Generative 4D modeling of environmental reactions: we project the 4D robot trajectory into a pointmap as a spatiotemporal visual signal, controlling the generative model to synthesize complex environments' reactive dynamics into synchronized RGB/pointmap sequences. To facilitate training, we curated a large-scale dataset called Robo4D-200k, comprising 201,426 robot interaction episodes with high-quality 4D annotations. Extensive experiments demonstrate that our method effectively simulates physically-plausible, geometry-consistent, and embodiment-agnostic interactions that faithfully mirror diverse real-world dynamics. For the first time, it shows potential zero-shot transfer capability, providing a high-fidelity foundation for advancing next-generation embodied simulation.
NOW PLAYING
Kinema4D: Kinematic 4D World Modeling for Spatiotemporal Embodied Simulation
No transcript for this episode yet
Similar Episodes
No similar episodes found.