SimForcing: Distilling Simulation Motion Priors into Real-Domain Robot World Models

Excerpt

arXiv:2610.06598v1 Announce Type: cross Abstract: Action-conditioned robot world models must respond precisely to robot trajectories while preserving realistic visual dynamics, yet learning both from heterogeneous robot videos remains challenging. Simulation offers structured motion supervision, but appearance differences hinder direct transfer, and inaccurate simulation predictions can misguide real-video generation. We present SimForcing, a simulation-guided framework that uses simulation both