{"id":"https://openalex.org/W7139911695","doi":"https://doi.org/10.48550/arxiv.2603.18811","title":"V-Dreamer: Automating Robotic Simulation and Trajectory Synthesis via Video Generation Priors","display_name":"V-Dreamer: Automating Robotic Simulation and Trajectory Synthesis via Video Generation Priors","publication_year":2026,"publication_date":"2026-03-19","ids":{"openalex":"https://openalex.org/W7139911695","doi":"https://doi.org/10.48550/arxiv.2603.18811"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2603.18811","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.18811","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":false,"raw_source_name":null,"raw_type":"article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2603.18811","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5130229113","display_name":"Songjia He","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"He, Songjia","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5130216610","display_name":"Zixuan Chen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen, Zixuan","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5130241124","display_name":"Hongyu Ding","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ding, Hongyu","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008382252","display_name":"Dian Shao","orcid":"https://orcid.org/0000-0002-0862-9941"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shao, Dian","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5130215962","display_name":"Jieqi Shi","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shi, Jieqi","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5130225686","display_name":"Chenxu Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Chenxu","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5130214111","display_name":"Jing Huo","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Huo, Jing","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5130222674","display_name":"Yang Gao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Gao, Yang","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5130229113"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.373199999332428,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.373199999332428,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12290","display_name":"Human Motion and Animation","score":0.20020000636577606,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.1737000048160553,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.6599000096321106},{"id":"https://openalex.org/keywords/executable","display_name":"Executable","score":0.6488000154495239},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5418000221252441},{"id":"https://openalex.org/keywords/generative-grammar","display_name":"Generative grammar","score":0.5008000135421753},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.49050000309944153},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.3944000005722046},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.3711000084877014},{"id":"https://openalex.org/keywords/generative-model","display_name":"Generative model","score":0.36959999799728394}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7713000178337097},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.6599000096321106},{"id":"https://openalex.org/C160145156","wikidata":"https://www.wikidata.org/wiki/Q778586","display_name":"Executable","level":2,"score":0.6488000154495239},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6283000111579895},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5418000221252441},{"id":"https://openalex.org/C39890363","wikidata":"https://www.wikidata.org/wiki/Q36108","display_name":"Generative grammar","level":2,"score":0.5008000135421753},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.49050000309944153},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4214000105857849},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.3944000005722046},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.3711000084877014},{"id":"https://openalex.org/C167966045","wikidata":"https://www.wikidata.org/wiki/Q5532625","display_name":"Generative model","level":3,"score":0.36959999799728394},{"id":"https://openalex.org/C2779038628","wikidata":"https://www.wikidata.org/wiki/Q7248497","display_name":"Programming by demonstration","level":3,"score":0.36959999799728394},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.3522999882698059},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3431999981403351},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.33889999985694885},{"id":"https://openalex.org/C2776459999","wikidata":"https://www.wikidata.org/wiki/Q2119376","display_name":"Fidelity","level":2,"score":0.32089999318122864},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.31459999084472656},{"id":"https://openalex.org/C22367795","wikidata":"https://www.wikidata.org/wiki/Q7625208","display_name":"Structured prediction","level":2,"score":0.29989999532699585},{"id":"https://openalex.org/C113364801","wikidata":"https://www.wikidata.org/wiki/Q26674","display_name":"High fidelity","level":2,"score":0.2971000075340271},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.2897000014781952},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.27900001406669617},{"id":"https://openalex.org/C97931131","wikidata":"https://www.wikidata.org/wiki/Q5282087","display_name":"Discriminative model","level":2,"score":0.2757999897003174},{"id":"https://openalex.org/C41608201","wikidata":"https://www.wikidata.org/wiki/Q980509","display_name":"Embedding","level":2,"score":0.2696000039577484},{"id":"https://openalex.org/C195324797","wikidata":"https://www.wikidata.org/wiki/Q33742","display_name":"Natural language","level":2,"score":0.25859999656677246},{"id":"https://openalex.org/C177212765","wikidata":"https://www.wikidata.org/wiki/Q627335","display_name":"Workflow","level":2,"score":0.2581999897956848}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2603.18811","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.18811","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":"doi:10.48550/arxiv.2603.18811","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.18811","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":false,"raw_source_name":null,"raw_type":"article"},"sustainable_development_goals":[{"display_name":"Quality Education","id":"https://metadata.un.org/sdg/4","score":0.41833704710006714}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Training":[0],"generalist":[1],"robots":[2],"demands":[3],"large-scale,":[4],"diverse":[5,142],"manipulation":[6,42,151],"data,":[7,132],"yet":[8],"real-world":[9,177],"collection":[10],"is":[11],"prohibitively":[12],"expensive,":[13],"and":[14,24,44,69,114,122,144,169],"existing":[15],"simulators":[16],"are":[17,98],"often":[18],"constrained":[19],"by":[20,74],"fixed":[21],"asset":[22],"libraries":[23],"manual":[25,126],"heuristics.":[26],"To":[27,128],"bridge":[28],"this":[29],"gap,":[30],"we":[31,86,133],"present":[32],"V-Dreamer,":[33],"a":[34,55,106],"fully":[35],"automated":[36],"framework":[37],"that":[38,59,159],"generates":[39],"open-vocabulary,":[40],"simulation-ready":[41],"environments":[43],"executable":[45,102],"expert":[46],"trajectories":[47,104,140],"directly":[48],"from":[49],"natural":[50],"language":[51,67],"instructions.":[52],"V-Dreamer":[53],"employs":[54],"novel":[56,176],"generative":[57,71],"pipeline":[58,117],"constructs":[60],"physically":[61],"grounded":[62],"3D":[63,70],"scenes":[64],"using":[65,153],"large":[66],"models":[68,90],"models,":[72],"validated":[73],"geometric":[75],"constraints":[76],"to":[77,164],"ensure":[78],"stable,":[79],"collision-free":[80],"layouts.":[81],"Crucially,":[82],"for":[83],"behavior":[84],"synthesis,":[85],"leverage":[87],"video":[88],"generation":[89],"as":[91],"rich":[92],"motion":[93],"priors.":[94],"These":[95],"visual":[96,120],"predictions":[97],"then":[99],"mapped":[100],"into":[101],"robot":[103],"via":[105],"robust":[107],"Sim-to-Gen":[108],"visual-kinematic":[109],"alignment":[110],"module":[111],"utilizing":[112],"CoTracker3":[113],"VGGT.":[115],"This":[116],"supports":[118],"high":[119],"diversity":[121],"physical":[123],"fidelity":[124],"without":[125],"intervention.":[127],"evaluate":[129],"the":[130,154],"generated":[131],"train":[134],"imitation":[135],"learning":[136],"policies":[137,161],"on":[138,149],"synthesized":[139],"encompassing":[141],"object":[143],"environment":[145],"variations.":[146],"Extensive":[147],"evaluations":[148],"tabletop":[150],"tasks":[152],"Piper":[155],"robotic":[156],"arm":[157],"demonstrate":[158],"our":[160],"robustly":[162],"generalize":[163],"unseen":[165],"objects":[166],"in":[167],"simulation":[168],"achieve":[170],"effective":[171],"sim-to-real":[172],"transfer,":[173],"successfully":[174],"manipulating":[175],"objects.":[178]},"counts_by_year":[],"updated_date":"2026-03-21T06:36:02.116451","created_date":"2026-03-21T00:00:00"}