Vidar: Embodied Video Diffusion Model for Generalist Manipulation
Classification
View four quadrants- Major category
- WAMs
- Quadrant
- Q4 · Dual-system × IDM
- Architecture
- Dual-system
- Prediction paradigm
- IDM
- Subcategories
- Visual planning & IDM
- Source review status
- Not assigned
Category review. A task-conditioned video generator produces futures used at inference by a separately trained masked inverse-dynamics model to produce robot commands. Separate video generator and masked IDM are both used to produce executable actions. Reading evidence
Contribution
Vidar adapts an embodied video generator to a target bimanual robot, then converts predicted imagery into controls using a separately trained masked inverse dynamics model. Low-demonstration real-world results and component ablations support this design; action observability, open-loop execution, and substantial prior training constrain its generality.
Abstract
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Affiliations
Dept. of Comp. Sci. and Tech., Institute for AI, BNRist Center, THBI Lab, Tsinghua-Bosch Joint ML Center, Tsinghua University; Shengshu Tech, Beijing, 100084, China