TAPESTRY: A Single Backbone for Video Generation and Robot Control
Overview
TAPESTRY is a world action model that repurposes a pretrained video diffusion transformer into a robotic policy by treating robot actions as single-patch tokens in the video model's latent space. The model generates compact action token sequences in a single DDIM step, achieving smooth action chunks at 84 ms per action chunk on consumer hardware, with strong performance across simulation and real-robot experiments.
From arXiv Robotics — research abstracts
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- 2026-10-30T19:04:00.487Z · evidence updated · source revision 1. Evidence extraction was updated; current source attributions are shown above.
- 2026-10-30T18:25:02.784Z · evidence updated · source revision 1. Evidence extraction was updated; current source attributions are shown above.
- 2026-10-30T17:37:36.761Z · evidence updated · source revision 1. Evidence extraction was updated; current source attributions are shown above.
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- arXiv Robotics — research abstractsSignalTAPESTRY: A Single Backbone for Video Generation and Robot Control
TAPESTRY is a world action model that repurposes a pretrained video diffusion transformer into a robotic policy by treating robot actions as single-patch tokens in the video model's latent space. The model generates compact action token sequences in a single DDIM step, achieving smooth action chunks at 84 ms per action chunk on consumer hardware, with strong performance across simulation and real-robot experiments.
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