Paper page - Ropedia W0: Scaling Loco-Manipulation World Models across Embodiments with Human Experience

Source: https://huggingface.co/papers/2610.26855 Authors:

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Abstract

Ropedia W0 is a world foundation model for cross-embodiment loco-manipulation that unifies human and robot data via kinematic representations and achieves state-of-the-art results across diverse benchmarks.

World models enable embodied agents to anticipate action consequences, yet jointly modeling locomotion and manipulation across diverse embodiments remains challenging due to heterogeneous action spaces and limited multimodal supervision. We present Ropedia W0, the firstegocentric loco-manipulationworld foundation modelspanning humans and robots with diverse embodiments. We curate Xp-Data, comprising 10k hours of egocentric human data and 3k hours of robot data with unified multimodal annotations and systematic quality control. A unifiedkinematic representationencodes locomotion through camera poses and manipulation through projected skeletons, with robot skeletons combining embodiment-specificforward kinematicswith extensive manual keypoint annotation and correction. We also introduce Xp-Teleop, a long-horizon loco-manipulation benchmark based on high-quality dexterous humanoid teleoperation data. Evaluations demonstrate state-of-the-art performance across fivecross-embodimentbenchmarks (DreamDojo, Ψ_0, ω-HOME, Xp-Teleop, and AgiBot) and on held-out human egocentric video, from zero-shot inference to few-shot and full-data post-training. Scaling human pre-training data improves performance on both human and robot evaluations. After distillation, our model supports real-time, minute-long rollouts, enabling live VR interaction. Applications in policy evaluation,model-based planning, andworld-action modelingfurther demonstrate the model’s utility for embodied decision-making.

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#### ropedia-ai/Ropedia-W0 Image-to-Video• Updated1 day ago • 15

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