{"id":"https://openalex.org/W4404389851","doi":"https://doi.org/10.48550/arxiv.2411.05619","title":"WHALE: Towards Generalizable and Scalable World Models for Embodied Decision-making","display_name":"WHALE: Towards Generalizable and Scalable World Models for Embodied Decision-making","publication_year":2024,"publication_date":"2024-11-08","ids":{"openalex":"https://openalex.org/W4404389851","doi":"https://doi.org/10.48550/arxiv.2411.05619"},"language":"en","primary_location":{"id":"pmh:oai:arXiv.org:2411.05619","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2411.05619","pdf_url":"https://arxiv.org/pdf/2411.05619","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":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","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/2411.05619","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101764889","display_name":"Zhilong Zhang","orcid":"https://orcid.org/0000-0002-9328-9098"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Zhilong","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102022928","display_name":"Ruifeng Chen","orcid":"https://orcid.org/0000-0002-2219-2467"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen, Ruifeng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5104217079","display_name":"Junyin Ye","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ye, Junyin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050836778","display_name":"Yihao Sun","orcid":"https://orcid.org/0000-0002-5829-8554"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sun, Yihao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100714807","display_name":"Pengyuan Wang","orcid":"https://orcid.org/0000-0001-8689-3011"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Pengyuan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008843087","display_name":"Jing-Cheng Pang","orcid":"https://orcid.org/0000-0002-6086-6979"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Pang, Jingcheng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101930594","display_name":"Kaiyuan Li","orcid":"https://orcid.org/0009-0003-6370-1031"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Kaiyuan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010834282","display_name":"Tianshuo Liu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liu, Tianshuo","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005113658","display_name":"Haoxin Lin","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lin, Haoxin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101794246","display_name":"Yang Yu","orcid":"https://orcid.org/0000-0002-1003-7371"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yu, Yang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5100621138","display_name":"Zhi\u2010Hua Zhou","orcid":"https://orcid.org/0000-0003-0746-1494"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhou, Zhi-Hua","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":1,"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/T10215","display_name":"Semantic Web and Ontologies","score":0.7041000127792358,"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"}},"topics":[{"id":"https://openalex.org/T10215","display_name":"Semantic Web and Ontologies","score":0.7041000127792358,"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"}},{"id":"https://openalex.org/T10456","display_name":"Multi-Agent Systems and Negotiation","score":0.6837999820709229,"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"}},{"id":"https://openalex.org/T10906","display_name":"AI-based Problem Solving and Planning","score":0.6590999960899353,"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/whale","display_name":"Whale","score":0.6527714133262634},{"id":"https://openalex.org/keywords/embodied-cognition","display_name":"Embodied cognition","score":0.6254879236221313},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.4824438691139221},{"id":"https://openalex.org/keywords/fishery","display_name":"Fishery","score":0.4686763882637024},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3624608814716339},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20716649293899536},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.17700713872909546}],"concepts":[{"id":"https://openalex.org/C2777704720","wikidata":"https://www.wikidata.org/wiki/Q1865281","display_name":"Whale","level":2,"score":0.6527714133262634},{"id":"https://openalex.org/C100609095","wikidata":"https://www.wikidata.org/wiki/Q1335050","display_name":"Embodied cognition","level":2,"score":0.6254879236221313},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.4824438691139221},{"id":"https://openalex.org/C505870484","wikidata":"https://www.wikidata.org/wiki/Q180538","display_name":"Fishery","level":1,"score":0.4686763882637024},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3624608814716339},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20716649293899536},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.17700713872909546},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:oai:arXiv.org:2411.05619","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2411.05619","pdf_url":"https://arxiv.org/pdf/2411.05619","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":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},{"id":"doi:10.48550/arxiv.2411.05619","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2411.05619","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":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2411.05619","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2411.05619","pdf_url":"https://arxiv.org/pdf/2411.05619","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":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2380179524","https://openalex.org/W4283365723","https://openalex.org/W2963001125","https://openalex.org/W2091233881","https://openalex.org/W2352366064","https://openalex.org/W4250820896","https://openalex.org/W1963741241"],"abstract_inverted_index":{"World":[0],"models":[1,28],"play":[2],"a":[3,70,138,189],"crucial":[4],"role":[5],"in":[6,19,39,153,181,212],"decision-making":[7],"within":[8],"embodied":[9],"environments,":[10],"enabling":[11],"cost-free":[12],"explorations":[13],"that":[14,204],"would":[15],"otherwise":[16],"be":[17,30,120],"expensive":[18],"the":[20,50,53,87,93,97,109,149,169],"real":[21],"world.":[22],"To":[23],"facilitate":[24],"effective":[25],"decision-making,":[26],"world":[27,75,98,128,142,192],"must":[29],"equipped":[31],"with":[32,122,144],"strong":[33,210],"generalizability":[34,211],"to":[35,48],"support":[36],"faithful":[37],"imagination":[38],"out-of-distribution":[40],"(OOD)":[41],"regions":[42],"and":[43,83,118,162,209],"provide":[44],"reliable":[45],"uncertainty":[46,106,173],"estimation":[47,107,160,174],"assess":[49],"credibility":[51],"of":[52,57,78,92,96,111,151,171],"simulated":[54],"experiences,":[55],"both":[56,158],"which":[58,176],"present":[59,136],"significant":[60],"challenges":[61],"for":[62,72,127],"prior":[63],"scalable":[64,139],"approaches.":[65],"This":[66],"paper":[67],"introduces":[68],"WHALE,":[69],"framework":[71],"learning":[73],"generalizable":[74],"models,":[76],"consisting":[77],"two":[79,133],"key":[80],"techniques:":[81],"behavior-conditioning":[82],"retracing-rollout.":[84],"Behavior-conditioning":[85],"addresses":[86],"policy":[88,179],"distribution":[89],"shift,":[90],"one":[91],"primary":[94],"sources":[95],"model":[99,112,129,143,193],"generalization":[100],"error,":[101],"while":[102],"retracing-rollout":[103],"enables":[104],"efficient":[105],"without":[108],"necessity":[110],"ensembles.":[113],"These":[114],"techniques":[115],"are":[116],"universal":[117],"can":[119],"combined":[121],"any":[123],"neural":[124],"network":[125],"architecture":[126],"learning.":[130],"Incorporating":[131],"these":[132],"techniques,":[134],"we":[135,167,186],"Whale-ST,":[137],"spatial-temporal":[140],"transformer-based":[141],"enhanced":[145],"generalizability.":[146],"We":[147,202],"demonstrate":[148],"superiority":[150],"Whale-ST":[152],"simulation":[154],"tasks":[155],"by":[156],"evaluating":[157],"value":[159],"accuracy":[161],"video":[163],"generation":[164],"fidelity.":[165],"Additionally,":[166],"examine":[168],"effectiveness":[170],"our":[172],"technique,":[175],"enhances":[177],"model-based":[178],"optimization":[180],"fully":[182],"offline":[183],"scenarios.":[184],"Furthermore,":[185],"propose":[187],"Whale-X,":[188],"414M":[190],"parameter":[191],"trained":[194],"on":[195],"970K":[196],"trajectories":[197],"from":[198],"Open":[199],"X-Embodiment":[200],"datasets.":[201],"show":[203],"Whale-X":[205],"exhibits":[206],"promising":[207],"scalability":[208],"real-world":[213],"manipulation":[214],"scenarios":[215],"using":[216],"minimal":[217],"demonstrations.":[218]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2025-10-10T00:00:00"}