{"id":"https://openalex.org/W7164549521","doi":"https://doi.org/10.48550/arxiv.2606.13672","title":"WEAVER, Better, Faster, Longer: An Effective World Model for Robotic Manipulation","display_name":"WEAVER, Better, Faster, Longer: An Effective World Model for Robotic Manipulation","publication_year":2026,"publication_date":"2026-06-11","ids":{"openalex":"https://openalex.org/W7164549521","doi":"https://doi.org/10.48550/arxiv.2606.13672"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2606.13672","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.13672","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.2606.13672","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5110935245","display_name":"Arnav Jain","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jain, Arnav Kumar","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138488151","display_name":"Yilin Wu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wu, Yilin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138506175","display_name":"Jesse Farebrother","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Farebrother, Jesse","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138490763","display_name":"Gokul Swamy","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Swamy, Gokul","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5136058920","display_name":"Andrea Bajcsy","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Bajcsy, Andrea","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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.5834000110626221,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.5834000110626221,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.2224999964237213,"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/T10709","display_name":"Social Robot Interaction and HRI","score":0.043299999088048935,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/consistency","display_name":"Consistency (knowledge bases)","score":0.6718999743461609},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.6287000179290771},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.5784000158309937},{"id":"https://openalex.org/keywords/fidelity","display_name":"Fidelity","score":0.5609999895095825},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4936999976634979},{"id":"https://openalex.org/keywords/speedup","display_name":"Speedup","score":0.3580000102519989}],"concepts":[{"id":"https://openalex.org/C2776436953","wikidata":"https://www.wikidata.org/wiki/Q5163215","display_name":"Consistency (knowledge bases)","level":2,"score":0.6718999743461609},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6373999714851379},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.6287000179290771},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6265000104904175},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.5784000158309937},{"id":"https://openalex.org/C2776459999","wikidata":"https://www.wikidata.org/wiki/Q2119376","display_name":"Fidelity","level":2,"score":0.5609999895095825},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4936999976634979},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.4239000082015991},{"id":"https://openalex.org/C68339613","wikidata":"https://www.wikidata.org/wiki/Q1549489","display_name":"Speedup","level":2,"score":0.3580000102519989},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.30809998512268066},{"id":"https://openalex.org/C113364801","wikidata":"https://www.wikidata.org/wiki/Q26674","display_name":"High fidelity","level":2,"score":0.2833999991416931},{"id":"https://openalex.org/C123657996","wikidata":"https://www.wikidata.org/wiki/Q12271","display_name":"Architecture","level":2,"score":0.27239999175071716},{"id":"https://openalex.org/C100609095","wikidata":"https://www.wikidata.org/wiki/Q1335050","display_name":"Embodied cognition","level":2,"score":0.2651999890804291},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.2639999985694885},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25540000200271606},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.25270000100135803}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2606.13672","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.13672","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.2606.13672","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.13672","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":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"The":[0],"potential":[1],"impacts":[2],"of":[3,132,168,172,185],"world":[4,141],"models":[5],"(WMs,":[6],"i.e.,":[7],"learned":[8],"simulators)":[9],"on":[10,93,170,204],"robotics":[11],"are":[12,58],"far-reaching":[13],"--":[14,22],"policy":[15,17,154,162],"evaluation,":[16],"improvement,":[18],"and":[19,63,107,124,178,209],"test-time":[20,179],"planning":[21,180],"all":[23,87],"with":[24,49,158,187],"limited":[25],"real-world":[26,159],"interaction.":[27],"To":[28],"unlock":[29,129],"these":[30],"downstream":[31],"capabilities,":[32],"a":[33,81,99,111,188],"WM":[34,82,101],"needs":[35],"to":[36,103,128],"jointly":[37],"satisfy":[38],"three":[39,88],"desiderata:":[40],"$\\textit{(i)}$":[41],"fidelity":[42],"(i.e.,":[43,53,66],"producing":[44,54,67],"simulated":[45,55,68],"trajectories":[46,56,69],"that":[47,57,84,137],"correlate":[48],"reality),":[50],"$\\textit{(ii)}$":[51],"consistency":[52],"coherent":[59],"over":[60,191],"long":[61],"horizons),":[62],"$\\textit{(iii)}$":[64],"efficiency":[65],"quickly).":[70],"We":[71,114,144],"propose":[72],"WEAVER":[73,97,146,194],"(World":[74],"Estimation":[75],"Across":[76],"Views":[77],"for":[78],"Embodied":[79],"Reasoning):":[80],"architecture":[83],"simultaneously":[85],"achieves":[86],"desiderata,":[89],"providing":[90],"state-of-the-art":[91],"results":[92],"robotic":[94,148],"manipulation":[95,135],"tasks.":[96],"is":[98],"multi-view":[100],"trained":[102],"predict":[104],"future":[105],"latents":[106],"reward":[108],"values":[109],"via":[110],"flow-matching":[112],"loss.":[113],"distill":[115],"the":[116,130,173],"key":[117],"design":[118],"decisions":[119],"across":[120],"model":[121],"architecture,":[122],"memory,":[123],"prediction":[125],"objectives":[126],"required":[127],"kinds":[131],"long-horizon":[133],"dynamic":[134],"tasks":[136],"have":[138],"confounded":[139],"prior":[140,192,200],"modeling":[142],"approaches.":[143],"apply":[145],"in":[147],"hardware,":[149],"demonstrating":[150],"its":[151],"effectiveness":[152],"at":[153],"evaluation":[155],"($\u03c1$=0.870":[156],"correlation":[157],"success":[160,165,182],"rate),":[161],"improvement":[163,167,184],"(real-world":[164,181],"rate":[166,183],"$38\\%$":[169],"top":[171],"$\u03c0_{0.5}$":[174],"robot":[175],"foundation":[176],"model),":[177],"$14\\%$":[186],"$5-10\\times$":[189],"speedup":[190],"WMs).":[193],"also":[195],"demonstrates":[196],"better":[197],"performance":[198],"than":[199],"WMs":[201],"when":[202],"evaluated":[203],"out-of-distribution":[205],"scenarios.":[206],"Code,":[207],"models,":[208],"videos":[210],"at:":[211],"https://arnavkj1995.github.io/WEAVER/":[212],".":[213]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-06-13T00:00:00"}
