{"id":"https://openalex.org/W7167716802","doi":"https://doi.org/10.48550/arxiv.2607.06559","title":"RynnWorld-4D: 4D Embodied World Models for Robotic Manipulation","display_name":"RynnWorld-4D: 4D Embodied World Models for Robotic Manipulation","publication_year":2026,"publication_date":"2026-07-07","ids":{"openalex":"https://openalex.org/W7167716802","doi":"https://doi.org/10.48550/arxiv.2607.06559"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2607.06559","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2607.06559","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.2607.06559","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/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":0.4993000030517578,"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":0.4993000030517578,"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":0.19499999284744263,"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":0.05920000001788139,"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/optical-flow","display_name":"Optical flow","score":0.6707000136375427},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.6345999836921692},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5694000124931335},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.541100025177002},{"id":"https://openalex.org/keywords/embodied-cognition","display_name":"Embodied cognition","score":0.42480000853538513},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.39730000495910645},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.35370001196861267},{"id":"https://openalex.org/keywords/dynamics","display_name":"Dynamics (music)","score":0.3441999852657318},{"id":"https://openalex.org/keywords/pixel","display_name":"Pixel","score":0.34290000796318054}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7045999765396118},{"id":"https://openalex.org/C155542232","wikidata":"https://www.wikidata.org/wiki/Q736111","display_name":"Optical flow","level":3,"score":0.6707000136375427},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6620000004768372},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.6345999836921692},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.576200008392334},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5694000124931335},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.541100025177002},{"id":"https://openalex.org/C100609095","wikidata":"https://www.wikidata.org/wiki/Q1335050","display_name":"Embodied cognition","level":2,"score":0.42480000853538513},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.41280001401901245},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.39730000495910645},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.35370001196861267},{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.3441999852657318},{"id":"https://openalex.org/C160633673","wikidata":"https://www.wikidata.org/wiki/Q355198","display_name":"Pixel","level":2,"score":0.34290000796318054},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.3377000093460083},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.3343000113964081},{"id":"https://openalex.org/C48007421","wikidata":"https://www.wikidata.org/wiki/Q676252","display_name":"Motion capture","level":3,"score":0.3160000145435333},{"id":"https://openalex.org/C2779916870","wikidata":"https://www.wikidata.org/wiki/Q14467155","display_name":"Gaze","level":2,"score":0.296999990940094},{"id":"https://openalex.org/C167966045","wikidata":"https://www.wikidata.org/wiki/Q5532625","display_name":"Generative model","level":3,"score":0.296099990606308},{"id":"https://openalex.org/C123657996","wikidata":"https://www.wikidata.org/wiki/Q12271","display_name":"Architecture","level":2,"score":0.2935999929904938},{"id":"https://openalex.org/C207347870","wikidata":"https://www.wikidata.org/wiki/Q371174","display_name":"Gesture","level":2,"score":0.27900001406669617},{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.27129998803138733},{"id":"https://openalex.org/C2780226923","wikidata":"https://www.wikidata.org/wiki/Q929848","display_name":"Movement (music)","level":2,"score":0.27059999108314514},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.2635999917984009},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.25600001215934753},{"id":"https://openalex.org/C2779136372","wikidata":"https://www.wikidata.org/wiki/Q10283002","display_name":"Information flow","level":2,"score":0.25220000743865967}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2607.06559","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2607.06559","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.2607.06559","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2607.06559","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":{"Robotic":[0],"manipulation":[1,173,237],"in":[2,199,212,241],"the":[3,43,74,84,193],"open":[4],"world":[5,87,128],"requires":[6],"not":[7],"only":[8],"recognizing":[9],"what":[10],"a":[11,37,48,68,99,113,118,131,160,200,213],"scene":[12],"looks":[13],"like,":[14],"but":[15],"also":[16],"anticipating":[17],"how":[18],"its":[19],"3D":[20,140],"structure":[21,63],"moves":[22],"under":[23],"interaction.":[24],"We":[25,183],"argue":[26],"that":[27,41,102,134,143,191,218,228],"synchronized":[28],"RGB,":[29],"depth,":[30],"and":[31,64,89,109,117,146,171,180,222,227,246],"optical":[32,110,181],"flow,":[33],"namely":[34],"RGB-DF,":[35],"provide":[36],"physically":[38],"grounded":[39],"representation":[40,69],"captures":[42],"underlying":[44],"4D":[45,127,195,225],"dynamics":[46,189],"of":[47,163,197],"scene.":[49],"Compared":[50],"to":[51,73,208],"2D":[52],"pixel":[53],"videos,":[54],"this":[55,94],"multi-modal":[56],"synergy":[57],"aligns":[58],"visual":[59],"appearance":[60],"with":[61,138,175],"geometric":[62],"temporal":[65,247],"motion,":[66],"creating":[67],"space":[70],"significantly":[71],"closer":[72],"low-level":[75],"end-effector":[76],"actions":[77,211],"demanded":[78],"by":[79],"robotic":[80,172],"systems,":[81],"thereby":[82],"narrowing":[83],"gap":[85],"between":[86],"prediction":[88],"policy":[90],"learning.":[91],"Building":[92],"on":[93,233],"insight,":[95],"we":[96,156],"introduce":[97],"RynnWorld-4D,":[98],"generative":[100],"model":[101,129],"co-produces":[103],"future":[104],"RGB":[105],"frames,":[106],"depth":[107,179],"maps,":[108],"flow":[111],"from":[112],"single":[114,201],"RGB-D":[115],"image":[116],"language":[119],"instruction":[120],"within":[121],"one":[122],"unified":[123],"diffusion":[124],"process.":[125],"This":[126],"features":[130],"tri-branch":[132],"architecture":[133],"integrates":[135],"cross-modal":[136],"attention":[137],"frame-wise":[139],"RoPE,":[141],"ensuring":[142],"appearance,":[144],"geometry,":[145],"motion":[147],"evolve":[148],"consistently.":[149],"To":[150],"supply":[151],"training":[152],"data":[153],"at":[154],"scale,":[155],"curate":[157],"Rynn4DDataset":[158],"1.0,":[159],"massive":[161],"dataset":[162],"over":[164],"254.4":[165],"million":[166],"frames":[167],"across":[168],"egocentric":[169],"human":[170],"videos":[174],"high-quality":[176],"pseudo-labels":[177],"for":[178],"flow.":[182],"further":[184],"propose":[185],"RynnWorld-4D-Policy,":[186],"an":[187],"inverse":[188],"head":[190],"consumes":[192],"internal":[194],"representations":[196],"RynnWorld-4D":[198,219],"forward":[202],"pass,":[203],"bypassing":[204],"expensive":[205],"multi-step":[206],"denoising,":[207],"output":[209],"robot":[210],"closed-loop":[214],"manner.":[215],"Experiments":[216],"show":[217],"produces":[220],"temporally":[221],"spatially":[223],"coherent":[224],"predictions,":[226],"RynnWorld-4D-Policy":[229],"achieves":[230],"state-of-the-art":[231],"performance":[232],"real-world":[234],"dexterous":[235],"bimanual":[236],"tasks,":[238],"particularly":[239],"excelling":[240],"tasks":[242],"demanding":[243],"spatial":[244],"precision":[245],"coordination.":[248]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2026-07-09T00:00:00"}