| title | Ropedia W0: Scaling Loco-Manipulation World Models across Embodiments with Human Experience |
|---|---|
| authors | Tianqi Liu, Hanfei Zhao, Qifeng Liang, Hui En Pang, Jiarui Xu, Sayang Mu, Penghao Qiu, YingSheng Zhang, Jun Wang, Ziang Cao, Mingze Sun, Yukang Cao, Fangzhou Hong, Zhaoxi Chen, Ziwei Liu |
| date | 2026-10-19 |
| venue | arXiv (preprint, not peer reviewed) |
| id | arXiv:2610.26855 |
| affiliation | Ropedia |
| upvotes | 62 (Hugging Face Daily Papers, 2026-11-01) |
| links | abs pdf hf code |
| primer | World models |
| abstract | World models enable embodied agents to anticipate action consequences, yet jointly modeling locomotion and manipulation across diverse embodiments remains challenging due to heterogeneous action spaces and limited multimodal supervision. We present Ropedia W0, the first egocentric loco-manipulation world foundation model spanning humans and robots with diverse embodiments. We curate Xp-Data, comprising 10k hours of egocentric human data and 3k hours of robot data with unified multimodal annotations and systematic quality control. A unified kinematic representation encodes locomotion through camera poses and manipulation through projected skeletons, with robot skeletons combining embodiment-specific forward kinematics with extensive manual keypoint annotation and correction. We also introduce Xp-Teleop, a long-horizon loco-manipulation benchmark based on high-quality dexterous humanoid teleoperation data. Evaluations demonstrate state-of-the-art performance across five cross-embodiment benchmarks (DreamDojo, Ψ_0, ω-HOME, Xp-Teleop, and AgiBot) and on held-out human egocentric video, from zero-shot inference to few-shot and full-data post-training. Scaling human pre-training data improves performance on both human and robot evaluations. After distillation, our model supports real-time, minute-long rollouts, enabling live VR interaction. Applications in policy evaluation, model-based planning, and world-action modeling further demonstrate the model's utility for embodied decision-making. |
cite
@misc{liu2026ropedia,
title={Ropedia W0: Scaling Loco-Manipulation World Models across Embodiments with Human Experience},
author={Tianqi Liu and Hanfei Zhao and Qifeng Liang and Hui En Pang and Jiarui Xu and Sayang Mu and Penghao Qiu and YingSheng Zhang and Jun Wang and Ziang Cao and Mingze Sun and Yukang Cao and Fangzhou Hong and Zhaoxi Chen and Ziwei Liu},
year={2026},
eprint={2610.26855},
archivePrefix={arXiv},
url={https://arxiv.org/abs/2610.26855}
}