RobotAPO: Adversarial Physics Preference Optimization for Robotic Manipulation Video Generation

arXiv:2610.09454 · cs.RO · Submitted 2026-10-07 · Read on arXiv

cs.RO

Submitted: 2026-10-07

Updated: 2026-10-07

Terminology

• Consistency — 27× in this paper · explained in 3 episodes
• Alignment — 15× in this paper · explained in 1 episode
• Diffusion Model — 8× in this paper · explained in 8 episodes
• Adaptation — 5× in this paper · explained in 1 episode
• Diffusion Models — 5× in this paper · explained in 6 episodes
• Failure Taxonomy — 5× in this paper · explained in 2 episodes
• Verification — 5× in this paper · explained in 2 episodes
• Ablation — 4× in this paper · explained in 1 episode
• Benchmark — 4× in this paper · explained in 2 episodes
• World Model — 4× in this paper · explained in 7 episodes
• Fine-Tuning — 3× in this paper · explained in 5 episodes
• Generative Model — 3× in this paper · explained in 2 episodes
• Generative Models — 3× in this paper · explained in 2 episodes
• LoRA Adapters — 3× in this paper · explained in 3 episodes
• Regularization — 3× in this paper · explained in 3 episodes
• Embeddings — 2× in this paper · explained in 2 episodes
• Generalization — 2× in this paper · explained in 13 episodes
• Transformer — 2× in this paper · explained in 2 episodes
• Ablation study — 1× in this paper · explained in 1 episode
• Adam — 1× in this paper · explained in 2 episodes
• Core — 1× in this paper · explained in 2 episodes
• Domain Adaptation — 1× in this paper · explained in 5 episodes
• Embodied AI — 1× in this paper · explained in 2 episodes
• Hallucination — 1× in this paper · explained in 3 episodes
• Latent Diffusion Model — 1× in this paper · explained in 2 episodes
• Latent Diffusion Models — 1× in this paper · explained in 2 episodes
• Low-Rank Adaptation (LoRA) — 1× in this paper · explained in 9 episodes
• Reinforcement Learning — 1× in this paper · explained in 4 episodes
• Semantic Alignment — 1× in this paper · explained in 3 episodes
• Structural Constraints — 1× in this paper · explained in 2 episodes
• Variational Autoencoder (VAE) — 1× in this paper · explained in 3 episodes
• Zero-Shot Transfer — 1× in this paper · explained in 4 episodes

Sources

• Vidu: a Highly Consistent, Dynamic and Skilled Text-to-Video Generator with Diffusion Models
• Gen2Act: Human Video Generation in Novel Scenarios enables Generalizable Robot Manipulation
• Zero-Shot Robotic Manipulation with Pretrained Image-Editing Diffusion Models
• Stable Video Diffusion: Scaling Latent Video Diffusion Models to Large Datasets
• AgiBot World Colosseo: A Large-scale Manipulation Platform for Scalable and Intelligent Embodied Systems
• GR-2: A Generative Video-Language-Action Model with Web-Scale Knowledge for Robot Manipulation
• Large Video Planner Enables Generalizable Robot Control
• RealDPO: Real or Not Real, that is the Preference
• Discriminator-Free Direct Preference Optimization for Video Diffusion
• WoW: Towards a World omniscient World model Through Embodied Interaction
• EMMA: Generalizing Real-World Robot Manipulation via Generative Visual Transfer
• Vidar: Embodied Video Diffusion Model for Generalist Manipulation
• VideoScore: Building Automatic Metrics to Simulate Fine-grained Human Feedback for Video Generation
• VideoScore2: Think before You Score in Generative Video Evaluation
• CogVideo: Large-scale Pretraining for Text-to-Video Generation via Transformers
• Video Prediction Policy: A Generalist Robot Policy with Predictive Visual Representations
• D-Fusion: Direct Preference Optimization for Aligning Diffusion Models with Visually Consistent Samples
• OpenVLA: An Open-Source Vision-Language-Action Model
• Learning to Act from Actionless Videos through Dense Correspondences
• HunyuanVideo: A Systematic Framework For Large Video Generative Models

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