{"id":"https://openalex.org/W7162293033","doi":"https://doi.org/10.48550/arxiv.2605.22882","title":"GEM-4D: Geometry-Enhanced Video World Models for Robot Manipulation","display_name":"GEM-4D: Geometry-Enhanced Video World Models for Robot Manipulation","publication_year":2026,"publication_date":"2026-05-20","ids":{"openalex":"https://openalex.org/W7162293033","doi":"https://doi.org/10.48550/arxiv.2605.22882"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2605.22882","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.22882","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":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2605.22882","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5136917915","display_name":"Kaichen Zhou","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhou, Kaichen","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136928328","display_name":"Yuzhen Chen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen, Yuzhen","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064046791","display_name":"Fangneng Zhan","orcid":"https://orcid.org/0000-0003-1502-6847"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhan, Fangneng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136977930","display_name":"Hang Hua","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hua, Hang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101911554","display_name":"Grace Chen","orcid":"https://orcid.org/0000-0003-1049-1571"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen, Grace","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136968104","display_name":"Xinhai Chang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chang, Xinhai","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136941535","display_name":"Ao Qu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Qu, Ao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136950403","display_name":"Yilun Du","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Du, Yilun","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136964809","display_name":"Zhuang Liu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liu, Zhuang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136950976","display_name":"Paul Pu Liang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liang, Paul Pu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5136978307","display_name":"Mengyu Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Mengyu","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":0.3995000123977661,"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":0.3995000123977661,"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/T10775","display_name":"Generative Adversarial Networks and Image Synthesis","score":0.3481000065803528,"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/T10812","display_name":"Human Pose and Action Recognition","score":0.05950000137090683,"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/robot","display_name":"Robot","score":0.6279000043869019},{"id":"https://openalex.org/keywords/consistency","display_name":"Consistency (knowledge bases)","score":0.5134999752044678},{"id":"https://openalex.org/keywords/executable","display_name":"Executable","score":0.47749999165534973},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.44440001249313354},{"id":"https://openalex.org/keywords/software-deployment","display_name":"Software deployment","score":0.4250999987125397},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.42480000853538513},{"id":"https://openalex.org/keywords/video-tracking","display_name":"Video tracking","score":0.41350001096725464},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4018000066280365}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7548999786376953},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6481999754905701},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6279000043869019},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5698999762535095},{"id":"https://openalex.org/C2776436953","wikidata":"https://www.wikidata.org/wiki/Q5163215","display_name":"Consistency (knowledge bases)","level":2,"score":0.5134999752044678},{"id":"https://openalex.org/C160145156","wikidata":"https://www.wikidata.org/wiki/Q778586","display_name":"Executable","level":2,"score":0.47749999165534973},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.44440001249313354},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.4250999987125397},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.42480000853538513},{"id":"https://openalex.org/C202474056","wikidata":"https://www.wikidata.org/wiki/Q1931635","display_name":"Video tracking","level":3,"score":0.41350001096725464},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4018000066280365},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.35510000586509705},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.3490999937057495},{"id":"https://openalex.org/C10912380","wikidata":"https://www.wikidata.org/wiki/Q527952","display_name":"Visual servoing","level":3,"score":0.33899998664855957},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.3285999894142151},{"id":"https://openalex.org/C75553542","wikidata":"https://www.wikidata.org/wiki/Q178161","display_name":"A priori and a posteriori","level":2,"score":0.32440000772476196},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.3208000063896179},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.28760001063346863},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.28360000252723694},{"id":"https://openalex.org/C12713177","wikidata":"https://www.wikidata.org/wiki/Q1900281","display_name":"Perspective (graphical)","level":2,"score":0.2766999900341034},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.2565999925136566},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.2506999969482422}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2605.22882","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.22882","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":"doi:10.48550/arxiv.2605.22882","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.22882","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":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Video":[0],"world":[1,52],"models":[2],"can":[3],"generate":[4],"realistic":[5,140],"futures":[6],"from":[7,65,147],"a":[8,25,49,66,92],"single":[9],"instruction,":[10],"but":[11],"they":[12],"often":[13],"fail":[14],"to":[15,83,149],"track":[16],"the":[17,27,34,72,81],"same":[18],"physical":[19,35],"points":[20],"consistently":[21],"across":[22,136],"time.":[23],"As":[24],"result,":[26],"generated":[28],"videos":[29],"appear":[30],"plausible,":[31],"yet":[32],"lack":[33],"grounding":[36],"required":[37],"for":[38],"reliable":[39],"action":[40],"execution,":[41],"such":[42],"as":[43],"robot":[44,114],"manipulation.":[45,124],"We":[46,100],"present":[47],"GEM-4D,":[48],"geometry-grounded":[50],"video":[51,73,110,131],"model":[53,70,82],"that":[54,107],"resolves":[55],"this":[56],"limitation":[57],"by":[58],"injecting":[59],"dense":[60],"4D":[61],"correspondence":[62],"supervision":[63,79],"distilled":[64],"pretrained":[67],"geometry":[68],"foundation":[69],"into":[71,112],"generative":[74],"backbone":[75],"during":[76],"training.":[77],"This":[78],"enables":[80],"jointly":[84],"capture":[85],"appearance":[86],"and":[87,122,133,139,142],"geometric":[88,134],"structure":[89],"while":[90],"retaining":[91],"single-stream":[93],"architecture":[94],"with":[95],"no":[96],"additional":[97],"inference":[98],"cost.":[99],"further":[101],"introduce":[102],"an":[103],"inverse":[104],"dynamics":[105],"module":[106],"converts":[108],"correspondence-consistent":[109],"rollouts":[111],"executable":[113],"trajectories,":[115],"enabling":[116],"direct":[117],"deployment":[118],"in":[119],"both":[120,130,137],"real-world":[121,144],"simulated":[123],"GEM-4D":[125],"achieves":[126],"state-of-the-art":[127],"performance":[128],"on":[129],"prediction":[132],"consistency":[135],"simulation":[138],"scenarios":[141],"improves":[143],"manipulation":[145],"success":[146],"61%":[148],"81%.":[150],"Additional":[151],"results":[152],"are":[153],"available":[154],"at":[155],"https://gem-4d.github.io/.":[156]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-05-26T00:00:00"}
