{"id":"https://openalex.org/W4386081933","doi":"https://doi.org/10.48550/arxiv.2308.10901","title":"Structured World Models from Human Videos","display_name":"Structured World Models from Human Videos","publication_year":2023,"publication_date":"2023-08-21","ids":{"openalex":"https://openalex.org/W4386081933","doi":"https://doi.org/10.48550/arxiv.2308.10901"},"language":"en","primary_location":{"id":"pmh:oai:arXiv.org:2308.10901","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2308.10901","pdf_url":"https://arxiv.org/pdf/2308.10901","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},"type":"preprint","indexed_in":["arxiv","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2308.10901","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5075935964","display_name":"Russell Mendonca","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Mendonca, Russell","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090307838","display_name":"Shikhar Bahl","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Bahl, Shikhar","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5101851026","display_name":"Deepak Pathak","orcid":"https://orcid.org/0000-0003-2496-0690"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Pathak, Deepak","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5075935964"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10812","display_name":"Human Pose and Action Recognition","score":0.9959999918937683,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10812","display_name":"Human Pose and Action Recognition","score":0.9959999918937683,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9955000281333923,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11307","display_name":"Domain Adaptation and Few-Shot Learning","score":0.982699990272522,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/affordance","display_name":"Affordance","score":0.8973819613456726},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7228492498397827},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.7177155017852783},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.6812639236450195},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6233873963356018},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5350832343101501},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.4263223111629486},{"id":"https://openalex.org/keywords/multimedia","display_name":"Multimedia","score":0.32834097743034363}],"concepts":[{"id":"https://openalex.org/C194995250","wikidata":"https://www.wikidata.org/wiki/Q531136","display_name":"Affordance","level":2,"score":0.8973819613456726},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7228492498397827},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.7177155017852783},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.6812639236450195},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6233873963356018},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5350832343101501},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.4263223111629486},{"id":"https://openalex.org/C49774154","wikidata":"https://www.wikidata.org/wiki/Q131765","display_name":"Multimedia","level":1,"score":0.32834097743034363},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:oai:arXiv.org:2308.10901","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2308.10901","pdf_url":"https://arxiv.org/pdf/2308.10901","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},{"id":"doi:10.48550/arxiv.2308.10901","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2308.10901","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2308.10901","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2308.10901","pdf_url":"https://arxiv.org/pdf/2308.10901","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/4","display_name":"Quality Education","score":0.5600000023841858}],"awards":[{"id":"https://openalex.org/G2345280531","display_name":null,"funder_award_id":"N00014-22-1-2096","funder_id":"https://openalex.org/F4320337345","funder_display_name":"Office of Naval Research"},{"id":"https://openalex.org/G4720003262","display_name":null,"funder_award_id":"N00014-22","funder_id":"https://openalex.org/F4320337345","funder_display_name":"Office of Naval Research"},{"id":"https://openalex.org/G8876996369","display_name":null,"funder_award_id":"N00014","funder_id":"https://openalex.org/F4320337345","funder_display_name":"Office of Naval Research"}],"funders":[{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"}],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4386081933.pdf"},"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W1972718289","https://openalex.org/W1791514435","https://openalex.org/W2346831895","https://openalex.org/W2248634132","https://openalex.org/W3049116993","https://openalex.org/W1541884709","https://openalex.org/W2589081601","https://openalex.org/W2226037301","https://openalex.org/W2026855223","https://openalex.org/W2016646572"],"abstract_inverted_index":{"We":[0,14,149],"tackle":[1],"the":[2,11,39,47,78,106],"problem":[3],"of":[4,29,41,49,95,141,154,173],"learning":[5,42],"complex,":[6],"general":[7],"behaviors":[8],"directly":[9],"in":[10,46,59,80,119,166,169],"real":[12],"world.":[13],"propose":[15],"an":[16,93],"approach":[17,111,153],"for":[18,108],"robots":[19,160],"to":[20,61,69,89,161],"efficiently":[21,62],"learn":[22,162],"manipulation":[23,164],"skills":[24,165],"using":[25],"only":[26,91],"a":[27,64,87,113,129,138],"handful":[28],"real-world":[30],"interaction":[31,143],"trajectories":[32],"from":[33,43,123],"many":[34,81],"different":[35,159],"settings.":[36],"Inspired":[37],"by":[38],"success":[40],"large-scale":[44],"datasets":[45],"fields":[48],"computer":[50],"vision":[51],"and":[52,98,135],"natural":[53],"language,":[54],"our":[55],"belief":[56],"is":[57],"that":[58,151],"order":[60],"learn,":[63],"robot":[65,88,142],"must":[66],"be":[67,177],"able":[68],"leverage":[70],"internet-scale,":[71],"human":[72,124,133],"video":[73],"data.":[74],"Humans":[75],"interact":[76],"with":[77],"world":[79,107,130,156],"interesting":[82],"ways,":[83],"which":[84],"can":[85,176],"allow":[86],"not":[90],"build":[92],"understanding":[94],"useful":[96],"actions":[97,104],"affordances":[99,121],"but":[100],"also":[101],"how":[102],"these":[103],"affect":[105],"manipulation.":[109],"Our":[110],"builds":[112],"structured,":[114],"human-centric":[115],"action":[116],"space":[117],"grounded":[118],"visual":[120],"learned":[122],"videos.":[125],"Further,":[126],"we":[127],"train":[128],"model":[131],"on":[132,137],"videos":[134],"fine-tune":[136],"small":[139],"amount":[140],"data":[144],"without":[145],"any":[146],"task":[147],"supervision.":[148],"show":[150],"this":[152],"affordance-space":[155],"models":[157],"enables":[158],"various":[163],"complex":[167],"settings,":[168],"under":[170],"30":[171],"minutes":[172],"interaction.":[174],"Videos":[175],"found":[178],"at":[179],"https://human-world-model.github.io":[180]},"counts_by_year":[],"updated_date":"2026-04-10T15:06:20.359241","created_date":"2025-10-10T00:00:00"}
