Paper

{
  "raw_xml": "<entry>\n    <id>http://arxiv.org/abs/2603.16669v1</id>\n    <title>Kinema4D: Kinematic 4D World Modeling for Spatiotemporal Embodied Simulation</title>\n    <updated>2026-03-17T15:36:38Z</updated>\n    <link href='https://arxiv.org/abs/2603.16669v1' rel='alternate' type='text/html'/>\n    <link href='https://arxiv.org/pdf/2603.16669v1' rel='related' title='pdf' type='application/pdf'/>\n    <summary>Simulating robot-world interactions is a cornerstone of Embodied AI. Recently, a few works have shown promise in leveraging video generations to transcend the rigid visual/physical constraints of traditional simulators. However, they primarily operate in 2D space or are guided by static environmental cues, ignoring the fundamental reality that robot-world interactions are inherently 4D spatiotemporal events that require precise interactive modeling. To restore this 4D essence while ensuring the precise robot control, we introduce Kinema4D, a new action-conditioned 4D generative robotic simulator that disentangles the robot-world interaction into: i) Precise 4D representation of robot controls: we drive a URDF-based 3D robot via kinematics, producing a precise 4D robot control trajectory. ii) Generative 4D modeling of environmental reactions: we project the 4D robot trajectory into a pointmap as a spatiotemporal visual signal, controlling the generative model to synthesize complex environments' reactive dynamics into synchronized RGB/pointmap sequences. To facilitate training, we curated a large-scale dataset called Robo4D-200k, comprising 201,426 robot interaction episodes with high-quality 4D annotations. Extensive experiments demonstrate that our method effectively simulates physically-plausible, geometry-consistent, and embodiment-agnostic interactions that faithfully mirror diverse real-world dynamics. For the first time, it shows potential zero-shot transfer capability, providing a high-fidelity foundation for advancing next-generation embodied simulation.</summary>\n    <category scheme='http://arxiv.org/schemas/atom' term='cs.RO'/>\n    <category scheme='http://arxiv.org/schemas/atom' term='cs.CV'/>\n    <published>2026-03-17T15:36:38Z</published>\n    <arxiv:comment>Project page: https://mutianxu.github.io/Kinema4D-project-page/</arxiv:comment>\n    <arxiv:primary_category term='cs.RO'/>\n    <author>\n      <name>Mutian Xu</name>\n    </author>\n    <author>\n      <name>Tianbao Zhang</name>\n    </author>\n    <author>\n      <name>Tianqi Liu</name>\n    </author>\n    <author>\n      <name>Zhaoxi Chen</name>\n    </author>\n    <author>\n      <name>Xiaoguang Han</name>\n    </author>\n    <author>\n      <name>Ziwei Liu</name>\n    </author>\n  </entry>"
}