μ_0: A Scalable 3D Interaction-Trace World Model

Hugging Face Daily Papers Papers
world-model robot-learning 3d-traces embodiment-agnostic scalable action-free-pretraining

Summary

μ_0 is a scalable world model that predicts smooth 3D trajectories for interaction points, enabling embodiment-agnostic robot learning without action labels by using a TraceExtract system for supervision.

World models that capture how actions induce physical change enable scalable robot learning without reliance on embodiment-specific action labels. Pixel-space video models provide broad visual priors but expend model capacity on dense appearance reconstruction, while direct action models require embodiment-specific labels that hinder scalability. We present μ_0, a scalable world model based on 3D traces. Rather than predicting dense pixels or directly modeling actions, μ_0 forecasts smooth 3D trajectories for salient interaction points such as objects, tools, hands, and contact regions, yielding a compact, embodiment-agnostic motion interface. To enable training from diverse video sources, our TraceExtract system automatically extracts 3D supervision by selecting keypoints, constructing globally aligned traces, and associating motion segments with hierarchical language captions. This TraceExtract supervision pretrains μ_0 by combining a pretrained vision-language backbone with a modular trace expert, which represents each query via B-spline control points and predicts future traces. Experiments show that μ_0 outperforms baselines in both 2D and 3D trace prediction, including trace prediction models and tokenized VLM methods. Because μ_0 is frozen and reusable, it can be paired with action experts for downstream robot embodiments. Despite action-free pretraining, the resulting trace-conditioned policies achieve performance competitive with VLA models pretrained with action supervision, such as π_0. These results establish 3D traces as a scalable and transferable representation for cross-embodiment manipulation.
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Source: https://huggingface.co/papers/2606.13769

Abstract

A scalable world model called μ₀ uses 3D traces to predict smooth trajectories for key interaction points, enabling embodiment-agnostic robot learning without action labels.

World modelsthat capture how actions induce physical change enable scalable robot learning without reliance on embodiment-specific action labels. Pixel-space video models provide broad visual priors but expend model capacity on dense appearance reconstruction, while direct action models require embodiment-specific labels that hinder scalability. We present μ_0, a scalable world model based on3D traces. Rather than predicting dense pixels or directly modeling actions, μ_0 forecasts smooth 3D trajectories for salient interaction points such as objects, tools, hands, and contact regions, yielding a compact, embodiment-agnostic motion interface. To enable training from diverse video sources, ourTraceExtractsystem automatically extracts 3D supervision by selecting keypoints, constructing globally aligned traces, and associating motion segments with hierarchical language captions. ThisTraceExtractsupervision pretrains μ_0 by combining a pretrainedvision-language backbonewith amodular trace expert, which represents each query viaB-spline control pointsand predicts future traces. Experiments show that μ_0 outperforms baselines in both 2D and 3D trace prediction, including trace prediction models and tokenized VLM methods. Because μ_0 is frozen and reusable, it can be paired with action experts for downstream robot embodiments. Despiteaction-free pretraining, the resultingtrace-conditioned policiesachieve performance competitive withVLA modelspretrained with action supervision, such as π_0. These results establish3D tracesas a scalable and transferable representation for cross-embodiment manipulation.

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