← 研踪 PaperTrailarXiv:2611.04870 · v1
PrimeSim: A Generalist World Model Simulator from Large-Scale Cross-Embodiment Demonstrations
首次提交 2026-11-03 21:25
版本更新 2026-11-03 21:25
雷达观测 2026-11-04 23:39
摘要
A robot world model that serves as a simulator must do more than generate plausible videos: it must faithfully follow commanded actions, maintain consistency across camera views, and sustain coherent long-horizon rollouts. We present PrimeSim, an action-conditioned, multiview world model simulator that addresses these challenges through progressive midtraining and posttraining. Starting from a pretrained video generator, we midtrain on 30,110 hours of robot demonstrations spanning 22 platforms. To improve action following, we introduce a unified cross-embodiment action representation and frame-aligned dual-path conditioning to strengthen action-frame correspondence. To maintain multiview consistency, we develop view-aware interleaved attention with explicit camera identities, enabling cross-view information exchange while preserving view-specific representations. We further introduce a fast-video, slow-memory posttraining framework that transforms the bidirectional video generator into an efficient autoregressive simulator. By combining fast causal generation, self-rollout training, and hierarchical temporal memory, PrimeSim mitigates error accumulation from self-generated histories and supports coherent long-horizon simulation. PrimeSim runs at 10.1 FPS, remains stable over long-horizon rollouts on rigid and deformable manipulation tasks, and transfers to held-out platforms within 100 to 200 gradient steps where the pretrained backbone does not. Against five open-source action-conditioned world models it leads four of the five WorldSimProbe suites and posts the best overall EWMBench score, while fine-grained local calibration still trails the field; its rollouts are faithful enough to support GRPO-based policy optimization. We release the model weights, inference code, and training code.
观测到的版本
相邻记录可能跳过中间版本；首次发现 v2 及以上也会标为版本更新。
v1 · 2026-11-03 21:25 · 最新观测版本
PrimeSim: A Generalist World Model Simulator from Large-Scale Cross-Embodiment Demonstrations
A robot world model that serves as a simulator must do more than generate plausible videos: it must faithfully follow commanded actions, maintain consistency across camera views, and sustain coherent long-horizon rollouts. We present PrimeSim, an action-conditioned, multiview world model simulator that addresses these challenges through progressive midtraining and posttraining. Starting from a pretrained video generator, we midtrain on 30,110 hours of robot demonstrations spanning 22 platforms. To improve action following, we introduce a unified cross-embodiment action representation and frame-aligned dual-path conditioning to strengthen action-frame correspondence. To maintain multiview consistency, we develop view-aware interleaved attention with explicit camera identities, enabling cross-view information exchange while preserving view-specific representations. We further introduce a fast-video, slow-memory posttraining framework that transforms the bidirectional video generator into an efficient autoregressive simulator. By combining fast causal generation, self-rollout training, and hierarchical temporal memory, PrimeSim mitigates error accumulation from self-generated histories and supports coherent long-horizon simulation. PrimeSim runs at 10.1 FPS, remains stable over long-horizon rollouts on rigid and deformable manipulation tasks, and transfers to held-out platforms within 100 to 200 gradient steps where the pretrained backbone does not. Against five open-source action-conditioned world models it leads four of the five WorldSimProbe suites and posts the best overall EWMBench score, while fine-grained local calibration still trails the field; its rollouts are faithful enough to support GRPO-based policy optimization. We release the model weights, inference code, and training code.
查看此版本解读 →查看此版本原文 ↗