SKIP: Sparse Keyframe Interpolation Paradigm for Efficient Embodied World Models
Embodied world models have emerged as a promising paradigm in robotics by predicting how robot actions affect the surrounding scene. However, the rollout inference remains computationally expensive in pixel space, as long-horizon manipulation videos typically have to be generated frame by frame. This cost cannot be easily reduced by indiscriminately dropping frames, since downstream policies rely on complete preservation of sparse task-relevant events such as approach, contact, grasp, and release. To address this challenge, we propose Sparse Keyframe Interpolation Paradigm (SKIP), an event-preserving sparse-to-dense framework that avoids dense frame-by-frame generation. SKIP first identif...
| Authors | Ziheng He, Yixiang Chen, Ning Yang et al. |
|---|---|
| Primary category | cs.RO |
| Published | 30 May 2026 |
| Last updated at source | 30 May 2026 |
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