World ModelsExpert
World Motion Models: Flexible Sequence Modeling of SE(3) Trajectories
This preprint, World Motion Models (WMMs), casts dynamic 3D scenes as collections of sparse SE(3) pose trajectories and trains a single flow-matching transformer to answer arbitrary known/unknown conditioning queries. Across separate checkpoints it reports 87.2% macro success on Language Table (vs 80.0% for LCB, the best prior), a 90.0% success on B2B, and faster/higher-success humanoid retargeting than offline PHUMA. It matters because the same architecture can serve as policy, forward dynamics model, planner, and cross-embodiment retargeter.