Skeleton-Grounded Latent Action Model for Robot World Models
SkeLAM is a skeleton-guided latent action model for controllable robot world modeling. It decomposes latent actions into a kinematic component supervised by robot skeletons and a residual component capturing other visual dynamics. Cross-modal swap reconstruction makes RGB-derived and skeleton-derived kinematic representations interchangeable, and a lightweight adapter maps robot actions into the kinematic space. The paper reports results on DROID relative to DreamDojo, including lower end-effector ADE and LPIPS.
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- Primary sourceHugging Face Daily Papers
- Discovery linkHugging Face
- Linked in sourceView arXiv page
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SkeLAM is a skeleton-guided latent action model for controllable robot world modeling. It decomposes latent actions into a kinematic component supervised by robot skeletons and a residual component capturing other visual dynamics. Cross-modal swap reconstruction makes RGB-derived and skeleton-derived kinematic representations interchangeable, and a lightweight adapter maps robot actions into the kinematic space. The paper reports results on DROID relative to DreamDojo, including lower end-effector ADE and LPIPS.
Key findings from the stored brief
- Latent actions are split into a skeleton-grounded kinematic component and a residual visual-dynamics component.
- On DROID, the paper reports 19.5% lower end-effector ADE and 11.1% lower LPIPS than DreamDojo.
- The paper reports zero-shot human-to-robot motion transfer in generated rollouts.
- Policy evaluation reportedly shows agreement between predicted and real-robot success rates.
Source claims not independently checked; reported gains are from the authors' own comparisons on DROID.
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Why this may matter
Separating robot motion from scene changes could make learned world models easier to control with robot actions, which is central to using them for simulation and policy evaluation.
Limits and open questions
Source claims not independently checked; reported gains are from the authors' own comparisons on DROID.
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