AuroraWorld: Structured 4D World Modeling for Exo-to-Ego Video Generation in Robot Manipulation

원문 초록

Egocentric observations provide a robot-centric view of manipulation processes, capturing contact interactions and object-state changes that are important for visuomotor policy learning but difficult to observe from external cameras. However, collecting such data at scale remains expensive due to additional hardware requirements and platform-specific deployment costs. Synthesizing egocentric observations from large-scale exocentric manipulation videos provides a scalable alternative. However, existing methods struggle to synthesize physically consistent and policy-relevant egocentric videos under substantial viewpoint transformations, severe occlusions, complex object interactions, and inherently sparse observations from available exocentric viewpoints. Code will be made publicly available at https://github.com/xueha0/AuroraWorld