RoboScape: Physics-informed Embodied World Model

Yu Shang, Xin Zhang, Yinzhou Tang, Lei Jin, Chen Gao, Wei Wu, Yong Li

RoboScape: Physics-informed Embodied World Model: 5 upvotes on Hugging Face Daily Papers, #15 of 19 papers on 2025-07-01. Day-by-day upvote history.

World models have become indispensable tools for embodied intelligence, serving as powerful simulators capable of generating realistic robotic videos while addressing critical data scarcity challenges. However, current embodied world models exhibit limited physical awareness, particularly in modeling 3D geometry and motion dynamics, resulting in unrealistic video generation for contact-rich robotic scenarios. In this paper, we present RoboScape, a unified physics-informed world model that jointly learns RGB video generation and physics knowledge within an integrated framework. We introduce two key physics-informed joint training tasks: temporal depth prediction that enhances 3D geometric consistency in video rendering, and keypoint dynamics learning that implicitly encodes physical properties (e.g., object shape and material characteristics) while improving complex motion modeling. Extensive experiments demonstrate that RoboScape generates videos with superior visual fidelity and physical plausibility across diverse robotic scenarios. We further validate its practical utility through downstream applications including robotic policy training with generated data and policy evaluation. Our work provides new insights for building efficient physics-informed world models to advance embodied intelligence research. The code is available at: https://github.com/tsinghua-fib-lab/RoboScape.

Paper page on Hugging Face · arXiv

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