urdf

Dream4ACT: A Shared Visual Action Interface for Multi-Embodiment Video-Action Modelingarxiv.org

Dream4ACT introduces a shared visual action interface (“action views”) that renders robot joint configurations from four virtual cameras using URDF forward kinematics, letting a single video autoencoder and diffusion transformer model both observations and actions across different robot embodiments. Trained with masked flow‑matching, the model attains 88.98% success on RoboTwin 2.0 and a 65.66 ov…