RoGSW4RLD: Feed-Forward 4D Gaussian Lifting for Robot World Model Rollouts

arXiv:2609.35311 · cs.CV, cs.RO · Submitted 2026-09-28 · Read on arXiv

cs.CV, cs.RO

Submitted: 2026-09-28

Updated: 2026-09-28

Code: https://github.com/cvg/resplat

Project page: https://ctrl-world.github.io

Terminology

• World Model — 22× in this paper · explained in 7 episodes
• Accuracy — 12× in this paper · explained in 1 episode
• Calibration — 12× in this paper · explained in 7 episodes
• Consistency — 8× in this paper · explained in 3 episodes
• Shape of Motion — 6× in this paper
• Alignment — 5× in this paper · explained in 1 episode
• Core — 5× in this paper · explained in 2 episodes
• Adaptation — 4× in this paper · explained in 1 episode
• Diffusion Model — 3× in this paper · explained in 8 episodes
• Diffusion Models — 3× in this paper · explained in 6 episodes
• Feed-forward framework — 3× in this paper · explained in 2 episodes
• Reconstruction Error — 3× in this paper · explained in 2 episodes
• Transformer — 3× in this paper · explained in 2 episodes
• Ablation — 2× in this paper · explained in 1 episode
• Fidelity — 2× in this paper · explained in 2 episodes
• Gaussian Splatting — 2× in this paper · explained in 4 episodes
• Generative AI — 2× in this paper · explained in 2 episodes
• Two-Stage Architecture — 2× in this paper · explained in 2 episodes
• alpha — 2× in this paper · explained in 1 episode
• Ablation study — 1× in this paper · explained in 1 episode
• Action-Conditioned Dynamics — 1× in this paper · explained in 1 episode
• Adam — 1× in this paper · explained in 2 episodes
• Aggregation — 1× in this paper · explained in 1 episode
• Allocator — 1× in this paper · explained in 1 episode
• Decode — 1× in this paper · explained in 2 episodes
• Deep Reinforcement Learning — 1× in this paper · explained in 2 episodes
• Distillation — 1× in this paper · explained in 2 episodes
• Latent Space — 1× in this paper · explained in 7 episodes
• LoRA Adapters — 1× in this paper · explained in 3 episodes
• Reinforcement Learning — 1× in this paper · explained in 4 episodes
• Self-distillation — 1× in this paper · explained in 6 episodes

Sources

• No Pose, No Problem in 4D: Feed-Forward Dynamic Gaussians from Unposed Multi-View Videos
• Visual Foresight: Model-Based Deep Reinforcement Learning for Vision-Based Robotic Control
• Robot-Factored World Models via Robot Rendering

Related papers

• Loss Knows Best: Detecting Annotation Errors in Videos via Loss Trajectories
• AnchorWeave: World-Consistent Video Generation with Retrieved Local Spatial Memories
• Benchmarking the Robustness of Foundation Models for Mammography under Domain Shift
• MambaX-Net: Dual-Input Mamba-Enhanced Cross-Attention Network for Longitudinal MRI Segmentation
• TeleOCR: Navigating Document Parsing Across Digital and Camera-Captured Documents
• A Survey on Efficient Vision-Language-Action Models