Ep#77: DreamDojo: A Generalist Robot World Model from Large-Scale Human Videos
Notas do episódio
World models have many different uses, from evaluation to training data generation to robot planning. DreamDojo is a new foundation world model that allows for impressively general and long-horizon interaction, generating coherent videos for interaction sequences over a minute long. It works in a wide range of environments and even generalizes to previously-unseen environments.
We talked to Shenyuan Gao and William Liang about how they built DreamDojo, and about what tricks were necessary to scale world model learning on data with sparse action labels, pretraining on 44,000 hours of human data and adapting to a wide variety of robots, environments, and skills.
Watch Epsiode #77 of RoboPapers with Michael Cho and Chris Paxton now to learn more!
Abstract
Being able to simulate the outcomes of actions in varied environments will revolutionize the development of generalist agents at scale. However, modeling these world dynamics, especially for dexterous robotics tasks, poses significant challenges due to limited data coverage and scarce action labels. As an endeavor towards this end, we introduce DreamDojo, a foundation world model that learns diverse interactions and dexterous controls from 44k hours of egocentric human videos. Our data mixture represents the largest video dataset to date for world model pretraining, spanning a wide range of daily scenarios with diverse objects and skills. To address the scarcity of action labels, we introduce continuous latent actions as unified proxy actions, enhancing interaction knowledge transfer from unlabeled videos. After post-training on small-scale target robot data, DreamDojo demonstrates a strong understanding of physics and precise action controllability. We also devise a distillation pipeline that accelerates DreamDojo to a real-time speed of 10.81 FPS and further improves context consistency. Our work enables several important applications based on generative world models, including live teleoperation, policy evaluation, and model-based planning. Systematic evaluation on multiple challenging out-of-distribution (OOD) benchmarks verifies the significance of our method for simulating open-world, contact-rich tasks, paving the way for general-purpose robot world models.
Learn More
Project Page: https://dreamdojo-world.github.io/
ArXiV: https://arxiv.org/abs/2602.06949
Github: https://github.com/NVIDIA/DreamDojo
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