{"id":"https://openalex.org/W7161684655","doi":"https://doi.org/10.48550/arxiv.2605.17522","title":"RoboFlow4D: A Lightweight Flow World Model Toward Real-Time Flow-Guided Robotic Manipulation","display_name":"RoboFlow4D: A Lightweight Flow World Model Toward Real-Time Flow-Guided Robotic Manipulation","publication_year":2026,"publication_date":"2026-05-17","ids":{"openalex":"https://openalex.org/W7161684655","doi":"https://doi.org/10.48550/arxiv.2605.17522"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2605.17522","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.17522","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2605.17522","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101381290","display_name":"Sixu Lin","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lin, Sixu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136503417","display_name":"Junliang Chen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen, Junliang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070348315","display_name":"Huaiyuan Xu","orcid":"https://orcid.org/0000-0003-2017-5484"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xu, Huaiyuan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136472351","display_name":"Zhuohao Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Zhuohao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136464114","display_name":"Guangming Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Guangming","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018174722","display_name":"Yixiong Jing","orcid":"https://orcid.org/0000-0002-8628-1119"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jing, Yixiong","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136504366","display_name":"Sheng Xu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xu, Sheng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136494111","display_name":"Runyi Zhao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhao, Runyi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5126792643","display_name":"Brian Sheil","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sheil, Brian","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136471642","display_name":"Lap-Pui Chau","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chau, Lap-Pui","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5136456979","display_name":"Guiliang Liu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liu, Guiliang","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":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":0.6365000009536743,"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":0.6365000009536743,"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":0.07349999994039536,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.061400000005960464,"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/modular-design","display_name":"Modular design","score":0.6772000193595886},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.593500018119812},{"id":"https://openalex.org/keywords/flow","display_name":"Flow (mathematics)","score":0.4885999858379364},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.46219998598098755},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.45190000534057617},{"id":"https://openalex.org/keywords/overhead","display_name":"Overhead (engineering)","score":0.41350001096725464},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.40779998898506165},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.3944000005722046}],"concepts":[{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.6772000193595886},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6516000032424927},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.593500018119812},{"id":"https://openalex.org/C38349280","wikidata":"https://www.wikidata.org/wiki/Q1434290","display_name":"Flow (mathematics)","level":2,"score":0.4885999858379364},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.46219998598098755},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.45190000534057617},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4302999973297119},{"id":"https://openalex.org/C2779960059","wikidata":"https://www.wikidata.org/wiki/Q7113681","display_name":"Overhead (engineering)","level":2,"score":0.41350001096725464},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.40779998898506165},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3977000117301941},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.3944000005722046},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.3937000036239624},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.392300009727478},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3732999861240387},{"id":"https://openalex.org/C100609095","wikidata":"https://www.wikidata.org/wiki/Q1335050","display_name":"Embodied cognition","level":2,"score":0.3695000112056732},{"id":"https://openalex.org/C66024118","wikidata":"https://www.wikidata.org/wiki/Q1122506","display_name":"Computational model","level":2,"score":0.35109999775886536},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.33500000834465027},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3312999904155731},{"id":"https://openalex.org/C2985179714","wikidata":"https://www.wikidata.org/wiki/Q627335","display_name":"Work flow","level":2,"score":0.30059999227523804},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.29280000925064087},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.28610000014305115},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.2743000090122223},{"id":"https://openalex.org/C2780576329","wikidata":"https://www.wikidata.org/wiki/Q39045793","display_name":"Motor planning","level":2,"score":0.265500009059906},{"id":"https://openalex.org/C3019007443","wikidata":"https://www.wikidata.org/wiki/Q568742","display_name":"3d model","level":2,"score":0.26350000500679016},{"id":"https://openalex.org/C194995250","wikidata":"https://www.wikidata.org/wiki/Q531136","display_name":"Affordance","level":2,"score":0.2524999976158142},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.2515999972820282}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2605.17522","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.17522","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2605.17522","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.17522","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[{"score":0.432844877243042,"display_name":"Decent work and economic growth","id":"https://metadata.un.org/sdg/8"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Planning":[0],"and":[1,44,63,86,118,124,132,143],"acting":[2],"in":[3,13,40,69,129],"3D":[4,27,71,81],"environments":[5],"is":[6],"a":[7,55],"fundamental":[8],"capability":[9],"for":[10,149],"robotic":[11],"manipulation":[12,140],"the":[14],"real":[15],"world.":[16],"Although":[17],"prior":[18],"work":[19],"has":[20],"explored":[21],"predictive":[22],"flow":[23,57,116],"planners":[24],"to":[25,93],"guide":[26,94],"manipulation,":[28],"existing":[29],"approaches":[30],"often":[31],"rely":[32],"on":[33],"modular":[34],"pipelines":[35],"stacking":[36],"multiple":[37],"submodels,":[38],"resulting":[39],"high":[41],"computational":[42,144],"overhead":[43],"limited":[45],"real-time":[46,123],"performance.":[47],"To":[48],"address":[49],"these":[50],"challenges,":[51],"we":[52],"introduce":[53],"RoboFlow4D,":[54],"lightweight":[56],"world":[58],"model":[59],"that":[60,136],"unifies":[61],"perception":[62],"planning":[64,92,148],"by":[65],"estimating":[66],"temporal":[67],"motion":[68],"physical":[70],"space.":[72],"As":[73],"an":[74,107],"end-to-end":[75],"framework,":[76],"RoboFlow4D":[77,121,137],"directly":[78],"predicts":[79],"multi-frame":[80],"flows":[82],"from":[83],"visual":[84],"observations":[85],"textual":[87],"instructions,":[88],"providing":[89],"explicit":[90],"flow-based":[91],"action":[95,104,119],"generation.":[96],"This":[97],"design":[98],"allows":[99],"seamless":[100],"integration":[101],"with":[102],"general":[103],"policies,":[105],"forming":[106],"efficient":[108],"observation-planning-execution":[109],"closed":[110],"loop.":[111],"Through":[112],"slow-fast":[113],"collaboration":[114],"between":[115],"prediction":[117],"control,":[120],"enables":[122],"resource-efficient":[125],"manipulation.":[126],"Extensive":[127],"experiments":[128],"both":[130],"simulation":[131],"real-world":[133],"settings":[134],"demonstrate":[135],"consistently":[138],"improves":[139],"success":[141],"rates":[142],"efficiency,":[145],"advancing":[146],"flow-guided":[147],"embodied":[150],"intelligence.":[151]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-05-20T00:00:00"}
