{"id":"https://openalex.org/W7167688301","doi":"https://doi.org/10.48550/arxiv.2607.06558","title":"RynnWorld-Teleop: An Action-Conditioned World Model for Digital Teleoperation","display_name":"RynnWorld-Teleop: An Action-Conditioned World Model for Digital Teleoperation","publication_year":2026,"publication_date":"2026-07-07","ids":{"openalex":"https://openalex.org/W7167688301","doi":"https://doi.org/10.48550/arxiv.2607.06558"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2607.06558","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2607.06558","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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.2607.06558","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5003608372","display_name":"Hongyun Zhao","orcid":"https://orcid.org/0000-0002-1251-3888"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhao, Haoyu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053213848","display_name":"X Zhao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhao, Xingyue","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5140251622","display_name":"Hangyu Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Hangyu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039597152","display_name":"B Dianxuan Gong","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Gong, Biao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5140263151","display_name":"Kehan Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Kehan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043900893","display_name":"Sicong Huang","orcid":"https://orcid.org/0000-0003-0854-4734"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Huang, Siteng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5140250595","display_name":"Xin Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Xin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085817734","display_name":"Dan Zhao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhao, Deli","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5140255202","display_name":"Zhongyu Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Zhongyu","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":0.39410001039505005,"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":0.39410001039505005,"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/T10812","display_name":"Human Pose and Action Recognition","score":0.2231999933719635,"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/T10709","display_name":"Social Robot Interaction and HRI","score":0.09390000253915787,"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/teleoperation","display_name":"Teleoperation","score":0.8105000257492065},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5152999758720398},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.4853000044822693},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.48420000076293945},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4586000144481659},{"id":"https://openalex.org/keywords/programming-by-demonstration","display_name":"Programming by demonstration","score":0.4221999943256378},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4171999990940094},{"id":"https://openalex.org/keywords/generative-grammar","display_name":"Generative grammar","score":0.41600000858306885}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.8105000257492065},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6069999933242798},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5426999926567078},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5152999758720398},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.4853000044822693},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.48420000076293945},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4586000144481659},{"id":"https://openalex.org/C2779038628","wikidata":"https://www.wikidata.org/wiki/Q7248497","display_name":"Programming by demonstration","level":3,"score":0.4221999943256378},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4171999990940094},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4171999990940094},{"id":"https://openalex.org/C39890363","wikidata":"https://www.wikidata.org/wiki/Q36108","display_name":"Generative grammar","level":2,"score":0.41600000858306885},{"id":"https://openalex.org/C167966045","wikidata":"https://www.wikidata.org/wiki/Q5532625","display_name":"Generative model","level":3,"score":0.3763999938964844},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.34279999136924744},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3262999951839447},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.32199999690055847},{"id":"https://openalex.org/C133462117","wikidata":"https://www.wikidata.org/wiki/Q4929239","display_name":"Data collection","level":2,"score":0.3037000000476837},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.29089999198913574},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.275299996137619},{"id":"https://openalex.org/C126388530","wikidata":"https://www.wikidata.org/wiki/Q1131737","display_name":"Imitation","level":2,"score":0.2732999920845032},{"id":"https://openalex.org/C2780440489","wikidata":"https://www.wikidata.org/wiki/Q5227278","display_name":"Data-driven","level":2,"score":0.27160000801086426},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.27149999141693115},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.26010000705718994},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25699999928474426},{"id":"https://openalex.org/C67186912","wikidata":"https://www.wikidata.org/wiki/Q367664","display_name":"Data modeling","level":2,"score":0.25040000677108765}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2607.06558","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2607.06558","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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.2607.06558","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2607.06558","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Scaling":[0],"robot":[1,44,87],"learning":[2,97],"requires":[3],"massive,":[4],"diverse":[5,162],"trajectory":[6],"data,":[7],"yet":[8],"collection":[9,36],"is":[10],"currently":[11],"bottlenecked":[12],"by":[13,40],"physical":[14,38,100],"teleoperation,":[15,30],"where":[16],"every":[17],"demonstration":[18],"binds":[19],"operator":[20],"time":[21],"to":[22,63,84],"specific":[23],"hardware":[24],"and":[25,123,161],"workspaces.":[26],"We":[27,102],"introduce":[28],"digital":[29],"a":[31,46,58,69,108,119,134,144,183],"paradigm":[32,105],"that":[33,110,179],"decouples":[34],"data":[35,153,173,186],"from":[37,68],"constraints":[39],"replacing":[41],"the":[42,130,189],"real":[43],"with":[45,169],"generative":[47,60,131],"world":[48,61],"model.":[49],"In":[50],"this":[51,104],"framework,":[52],"an":[53,79],"operator's":[54],"hand-pose":[55],"stream":[56,76],"drives":[57],"robot-centric":[59],"model":[62],"synthesize":[64],"high-fidelity":[65],"egocentric":[66],"videos":[67],"single":[70,145],"reference":[71],"image.":[72],"The":[73],"recorded":[74],"pose":[75],"serves":[77,181],"as":[78,182],"embodiment-agnostic":[80],"action":[81],"label":[82],"transferable":[83],"any":[85],"target":[86],"via":[88],"standard":[89],"retargeting,":[90],"yielding":[91],"complete":[92],"state-action":[93],"trajectories":[94],"for":[95,188],"imitation":[96],"independent":[98],"of":[99,192],"hardware.":[101],"instantiate":[103],"in":[106],"RynnWorld-Teleop,":[107],"system":[109],"integrates":[111],"depth-aware":[112],"skeletal":[113],"conditioning,":[114],"progressive":[115],"human-to-robot":[116],"training":[117],"on":[118,143,151],"video":[120],"Diffusion":[121],"Transformer,":[122],"streaming":[124],"autoregressive":[125],"distillation.":[126],"This":[127],"pipeline":[128],"compresses":[129],"process":[132],"into":[133],"single-pass":[135],"inference,":[136],"enabling":[137],"40+":[138],"FPS,":[139],"real-time":[140],"interactive":[141],"generation":[142,191],"H100":[146],"GPU.":[147],"Policies":[148],"trained":[149],"exclusively":[150],"RynnWorld-Teleop-generated":[152],"achieve":[154],"effective":[155],"zero-shot":[156],"Sim2Real":[157],"transfer":[158],"across":[159],"dexterous":[160],"bimanual":[163],"tasks.":[164],"Moreover,":[165],"augmenting":[166],"real-world":[167],"datasets":[168],"our":[170],"digitally":[171],"teleoperated":[172],"consistently":[174],"improves":[175],"success":[176],"rates,":[177],"demonstrating":[178],"RynnWorld-Teleop":[180],"high-fidelity,":[184],"scalable":[185],"engine":[187],"next":[190],"robotic":[193],"agents.":[194]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2026-07-09T00:00:00"}