点跟踪改进世界动作模型

Jiarui Guan, Wenshuai Zhao, Yue Pei, Ziliang Chen, Arno Solin, Juho Kannala

2026

摘要

提出JOPAT，一种联合像素与跟踪的世界动作模型，通过预测2D点轨迹和可见性来捕捉长期动态，对遮挡和离屏运动鲁棒。在LIBERO和LeRobot任务上，相比纯像素模型性能显著提升。

world-action modelpoint trackingdiffusion transformerrobot policy learningocclusion robustness

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