Author

Xingyue Zhao

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Preprint Jul 2026

RynnWorld-4D: 4D Embodied World Models for Robotic Manipulation

RynnWorld-4D is introduced, a generative model that co-produces future RGB frames, depth maps, and optical flow from a single RGB-D image and a language instruction within one unified diffusion process, and achieves state-of-the-art performance on real-world dexterous bimanual manipulation tasks, particularly excelling in tasks demanding spatial precision and temporal coordination.

Haoyu Zhao, Xingyue Zhao, Siteng Huang et al. · 1 citation

Preprint Jul 2026

RynnWorld-Teleop: An Action-Conditioned World Model for Digital Teleoperation

Digital teleoperation, a paradigm that decouples data collection from physical constraints by replacing the real robot with a generative world model, is introduced in RynnWorld-Teleop, a system that integrates depth-aware skeletal conditioning, progressive human-to-robot training on a video Diffusion Transformer, and streaming autoregressive distillation.

Haoyu Zhao, Xingyue Zhao, Hangyu Li et al. · 0 citations