LEARNING
SC3-Eval：通过自洽视频生成评估机器人基础模型
Wei-Cheng Tseng, Gashon Hussein, Yuzhu Dong, Allen Z. Ren, Lucy X. Shi, XuDong Wang, Sergey Levine, Zhaoshuo Li, Jinwei Gu, Florian Shkurti, Ming-Yu Liu, Quan Vuong
- 发表年份
- 2026
- 访问权限
- 开放获取
摘要
本文提出SC3-Eval方法，通过前向-逆向动力学一致性、跨视角一致性和测试时一致性三种自洽约束，将预训练视频基础模型转化为准确的策略评估器。该方法有效解决了自回归视频生成中的累积误差和多视角不一致问题，实现了对通用机器人操作策略的低成本、可扩展评估。
关键词
video world modelpolicy evaluationself-consistencyrobot foundation modelmulti-view consistency
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