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Why It Matters
Visual goal and dynamics prediction can provide language-conditioned robot policies with both a target outcome and a representation of action-dependent scene changes.
Provenance
Discovered via ArXiv and published by ArXiv.
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Original description
Visual goal and dynamics prediction can provide language-conditioned robot policies with both a target outcome and a representation of action-dependent scene changes. We bring these predictions into action generation and selection through a shared trajectory model. Dynin-Robotics implements this formulation on Dynin-Omni, an omnimodal masked-diffusion backbone, representing language, visual observations, goals, and actions as discrete tokens. By varying conditioning and target spans, the same model learns action prediction, action-conditioned next-observation prediction, terminal goal-state pr...
Discovered via ArXiv
Research papers and preprints from arXiv.
Publisher: arxiv.org
ID: http://arxiv.org/abs/2609.13053v1 · Indexed 8 days ago