Skip to yearly menu bar Skip to main content


Workshop Sat, Dec 6, 2025 • 8:00 AM – 5:00 PM PST

Embodied World Models for Decision Making

Yunbo Wang ⋅ Qi Wang ⋅ Mengyue Yang ⋅ Shenyuan Gao ⋅ Huazhe Xu ⋅ Xin Jin ⋅ Mingqi Yuan ⋅ Nedko Savov ⋅ Guozheng Ma ⋅ Bo Liu ⋅ Siheng Chen ⋅ Yongquan Hu ⋅ Jenny Zhang ⋅ Minting Pan ⋅ Luc V Gool
Project Page [ OpenReview] 

Abstract

Video

Chat is not available.

Schedule

Timezone: America/Los_Angeles
8:45 AM
Opening Remarks
1:00 PM
Scaling World Models to Power Evaluation and Validation
Gianluca Corrado ⋅ Lorenzo Bertoni
2:45 PM
Panel Discussion
Yilun Du ⋅ Jiajun Wu ⋅ John Langford ⋅ Glen Berseth ⋅ Lin Shao ⋅ Gianluca Corrado
CRISP: Contact-guided Real2Sim from Monocular Video with Planar Scene Primitives
Zihan Wang ⋅ Jiashun Wang ⋅ Jeff Tan ⋅ Yiwen Zhao ⋅ Jessica Hodgins ⋅ Shubham Tulsiani ⋅ Deva Ramanan
EnerVerse-AC: Envisioning Embodied Environments with Action Condition
Yuxin Jiang ⋅ Shengcong Chen ⋅ Siyuan Huang ⋅ Liliang Chen ⋅ Pengfei Zhou ⋅ Yue Liao ⋅ Xindong HE ⋅ Chiming Liu ⋅ Hongsheng Li ⋅ Maoqing Yao ⋅ Guanghui Ren
Opinion: Learning Intuitive Physics Requires More Than Visual Data
Ellen Su ⋅ Solim LeGris ⋅ Todd Gureckis ⋅ Mengye Ren
Vision-Language Reasoning for Burn Depth Assessment with Structured Diagnostic Hypotheses
Masudur Rahman ⋅ Mohamed Masry ⋅ Kristo Nuutila ⋅ Gayle Gordillo ⋅ Juan Wachs
OpenGVL - Benchmarking Visual Temporal Progress for Data Curation
Paweł Budzianowski ⋅ Emilia Wiśnios ⋅ Gracjan Góral ⋅ Igor Kulakov ⋅ Viktor Petrenko ⋅ Krzysztof Walas
Sim-to-Real Contact-Rich Pivoting via Optimization-Guided RL with Vision and Touch
Yuki Shirai ⋅ Kei Ota ⋅ Devesh Jha ⋅ Diego Romeres
ScenePhys — Controllable Physics Videos for World-Model Evaluation
Arshia Hemmat ⋅ Emad Aghahosseini ⋅ Alireza Nasri ⋅ Mohammad Hossein Shaker Ardakani ⋅ Amirmasoud Rismanchian ⋅ Ali Mamanpoosh ⋅ Afsaneh Fatemi
Latent Weight Diffusion: Generating reactive policies instead of trajectories
Shashank Hegde ⋅ Satyajeet Das ⋅ Gautam Salhotra ⋅ Gaurav Sukhatme
NinA: Normalizing Flows in Action. Training VLA Models with Normalizing Flows
Denis Tarasov ⋅ Alexander Nikulin ⋅ Ilya Zisman ⋅ Albina Klepach ⋅ Nikita Lyubaykin ⋅ Andrei Polubarov ⋅ Alexander Derevyagin ⋅ Vladislav Kurenkov
In-Context Policy Iteration for Dynamic Manipulation
Mark Van der Merwe ⋅ Devesh Jha
Towards Fine-tuning a Small Vision-Language Model for Aerial Navigation
Hakob Tamazyan ⋅ Narek Nurijanyan ⋅ Boris Martirosyan ⋅ Hrant Khachatrian
How Foundational Skills Influence VLM-based Embodied Agents: A Native Perspective
Bo Peng ⋅ Pi Bu ⋅ Keyu Pan ⋅ Xinrun Xu ⋅ Miao Chen ⋅ Yang Du ⋅ Lin Li ⋅ Jun Song ⋅ Tong Xu ⋅ Bo Zheng
Ada-Diffuser: Latent-Aware Adaptive Diffusion for Decision-Making
Fan Feng ⋅ Selena Ge ⋅ Minghao Fu ⋅ Zijian Li ⋅ Yujia Zheng ⋅ Zeyu Tang ⋅ Yingyao Hu ⋅ Biwei Huang ⋅ Kun Zhang
Adversarial Diffusion for Robust Reinforcement Learning
Daniele Foffano ⋅ Alessio Russo ⋅ Alexandre Proutiere
Mobile Manipulation with Active Inference for Long-Horizon Rearrangement Tasks
Corrado Pezzato ⋅ Ozan Catal ⋅ Toon Van de Maele ⋅ Riddhi Pitliya ⋅ Tim Verbelen
Opinion: Towards Unified Expressive Policy Optimization for Robust Robot Learning
Haidong Huang ⋅ Haiyue Zhu ⋅ Jiayu Song ⋅ Xixin Zhao ⋅ Yaohua Zhou ⋅ Jiayi Zhang ⋅ Yuze Zhai ⋅ Xiaocong Li
RDAR: Reward-Driven Agent Relevance Estimation for Autonomous Driving
Carlo Bosio ⋅ Greg Woelki ⋅ Noureldin Hendy ⋅ Nick Roy ⋅ Byungsoo Kim
Exploring exploration with foundation agents in interactive environments
Daniel Sawyer ⋅ Nan Rosemary Ke ⋅ Hubert Soyer ⋅ Martin Engelcke ⋅ John Reid ⋅ David Reichert ⋅ Drew Hudson ⋅ Alexander Lerchner ⋅ Danilo Jimenez Rezende ⋅ Timothy Lillicrap ⋅ Michael Mozer ⋅ Jane Wang
Bridging the Sim-to-Real Gap in Humanoid Dynamics via Learned Nonlinear Operators
Jieming Cui ⋅ Zhenghao Qi ⋅ Yutang Lin ⋅ Yifei Zhao ⋅ Yuntian Hu ⋅ Lei Kuang ⋅ Shuang Qiu ⋅ Rita Zhang ⋅ Bin He ⋅ Yixin Zhu
VLA-OS: Structuring and Dissecting Planning Representations and Paradigms in Vision-Language-Action Models
Chongkai Gao ⋅ Zixuan Liu ⋅ Zhenghao Chi ⋅ Junshan Huang ⋅ Xin Fei ⋅ Yiwen Hou ⋅ Yuxuan Zhang ⋅ Yudi Lin ⋅ Zhirui Fang ⋅ Zeyu Jiang ⋅ Lin Shao
A Smooth Sea Never Made a Skilled $\texttt{SAILOR}$: Robust Imitation via Learning to Search
Arnav Kumar Jain ⋅ Vibhakar Mohta ⋅ Subin Kim ⋅ Atiksh Bhardwaj ⋅ Juntao Ren ⋅ Yunhai Feng ⋅ Sanjiban Choudhury ⋅ Gokul Swamy
Divide and Merge: Motion and Semantic Learning in End-to-End Autonomous Driving
Yinzhe Shen ⋅ Omer Sahin Tas ⋅ Kaiwen Wang ⋅ Royden Wagner ⋅ Christoph Stiller
PolicyGRID: Acting to Understand, Understanding to Act
Taqiya Ehsan ⋅ Shuren Xia ⋅ Jorge Ortiz
WHALE: Towards Generalizable and Scalable World Models for Embodied Decision-making
Zhilong Zhang ⋅ Ruifeng Chen ⋅ Junyin Ye ⋅ Yihao Sun ⋅ Haoxiang Ren ⋅ Xinghao Du ⋅ Pengyuan Wang ⋅ Jing-Cheng Pang ⋅ Kaiyuan Li ⋅ Tian-Shuo Liu ⋅ Haoxin Lin ⋅ Yang Yu ⋅ Zhi-Hua Zhou
HDFlow: Hierarchical Diffusion-Flow Planning for Long-horizon Robotic Assembly
Gireesh Nandiraju ⋅ Yuanliang Ju ⋅ Chaoyi Xu ⋅ He Wang
ROPES: Robotic Pose Estimation via Score-based Causal Representation Learning
Pranamya Kulkarni ⋅ Puranjay Datta ⋅ Emre Acartürk ⋅ Burak Varıcı ⋅ Karthikeyan Shanmugam ⋅ Ali Tajer
FalconWing: An Ultra-Light Fixed-Wing Platform for Indoor Aerial Applications
Yan Miao ⋅ Will Shen ⋅ Hang Cui ⋅ Sayan Mitra
Foundation Models as World Models: A Foundational Study in Text-Based GridWorlds
Remo Sasso ⋅ Michelangelo Conserva ⋅ Dominik Jeurissen ⋅ Paulo Rauber
SPUR: Scaling Reward Learning from Human Demonstrations
Anthony Liang ⋅ Yigit Korkmaz ⋅ Jiahui Zhang ⋅ Jesse Zhang ⋅ Abrar Anwar ⋅ Sid Kaushik ⋅ Yufei Wang ⋅ Yu Xiang ⋅ David Held ⋅ Dieter Fox ⋅ Abhishek Gupta ⋅ Stephen Tu ⋅ Erdem Bıyık
Opinion: Small VLAs Self-Learn Consistency
Francesco Capuano ⋅ Adil Zouitine ⋅ Michel Aractingi
FLAM: Scaling Latent Action Models with Factorization
Chang Shi ⋅ Zizhao Wang ⋅ Jiaheng Hu ⋅ Roberto Martín-Martín ⋅ Peter Stone
ViPRA: Video Prediction for Robot Actions
Sandeep Kumar Routray ⋅ Hengkai Pan ⋅ Unnat Jain ⋅ Shikhar Bahl ⋅ Deepak Pathak
Plan Verification for LLM-Based Embodied Task Completion Agents
Ananth Hariharan ⋅ Vardhan Dongre ⋅ Dilek Hakkani-Tur ⋅ Gokhan Tur
LLM-Guided Probabilistic Program Induction for POMDP Model Estimation
Aidan Curtis ⋅ Hao Tang ⋅ Thiago Veloso ⋅ Kevin Ellis ⋅ Josh Tenenbaum ⋅ Tomás Lozano-Pérez ⋅ Leslie Kaelbling
SpatialThinker: Reinforcing 3D Reasoning in Multimodal LLMs via Spatial Rewards
Hunar Batra ⋅ Haoqin Tu ⋅ Hardy Chen ⋅ Yuanze Lin ⋅ Cihang Xie ⋅ Ronald Clark
EnerVerse-AC: Envisioning Embodied Environments with Action Condition
Yuxin Jiang ⋅ Shengcong Chen ⋅ Siyuan Huang ⋅ Liliang Chen ⋅ Pengfei Zhou ⋅ Yue Liao ⋅ Xindong HE ⋅ Chiming Liu ⋅ Hongsheng Li ⋅ Maoqing Yao ⋅ Guanghui Ren
Latent Weight Diffusion: Generating reactive policies instead of trajectories
Shashank Hegde ⋅ Satyajeet Das ⋅ Gautam Salhotra ⋅ Gaurav Sukhatme
VLA-OS: Structuring and Dissecting Planning Representations and Paradigms in Vision-Language-Action Models
Chongkai Gao ⋅ Zixuan Liu ⋅ Zhenghao Chi ⋅ Junshan Huang ⋅ Xin Fei ⋅ Yiwen Hou ⋅ Yuxuan Zhang ⋅ Yudi Lin ⋅ Zhirui Fang ⋅ Zeyu Jiang ⋅ Lin Shao
ViPRA: Video Prediction for Robot Actions
Sandeep Kumar Routray ⋅ Hengkai Pan ⋅ Unnat Jain ⋅ Shikhar Bahl ⋅ Deepak Pathak