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OSCAR: Omni-Embodiment Skeleton-Conditioned World Action Model for Robotics
arXiv:2606.04463v1 Announce Type: new Abstract: We present OSCAR, a precise action-conditioned video world model that generalizes across different robot embodiments and enables robot policy evaluation. Existing video world models face three main challenges for real-world robot evaluation: limited scenario diversity in current robot training datasets, imprecise action following, and poor generalization across embodiments for broad adoption. We tackle these challenges from two perspectives.
OSCAR: Omni-Embodiment Action-Conditioned World Model for Robotics
arXiv:2606.04463v2 Announce Type: replace Abstract: We present OSCAR, a precise action-conditioned video world model that generalizes across different robot embodiments and enables robot policy evaluation. Existing video world models face three main challenges for real-world robot evaluation: limited scenario diversity in current robot training datasets, imprecise action following, and poor generalization across embodiments for broad adoption. We tackle these challenges from two perspectives.