3D Point World Models: Point Completion Enables More Accurate Dynamics Learning

arXiv:2607.00148v1 Announce Type: new Abstract: Learning predictive models of the world enables robotic control through planning, potentially allowing robots to improvise solutions on new tasks. However, large video-based dynamics models lack explicit 3D spatial structure and suffer from geometrically inconsistent long-term rollouts with compounding errors. Emerging 3D dynamics models based on partial point clouds improve geometric consistency but remain sensitive to occlusions and accumulated p...