Simulator rolloutRecorded observation
SIMULATOR
Loading observation… EXPERIMENT 10 · CANON DREAMZERO
What the model imagined.
What the robot did.
Explore generated futures beside the recorded simulation.
Ten shared worlds per checkpoint. Every prediction window.
Throw plastic bottles into the bin
Absolute EEFBlender48 actions / call
TASK SUCCESS— / 10 worlds
MEAN MAX REWARD—
BUDGET / WORLD22,000 actions
SAVED FORECASTS—
Success requires all four bottles in the bin. Partial reward shows progress toward that goal.
01 / CHOOSE A WORLD
Select a thumbnail to exploreThe same scenes, at each checkpoint.
02 / COMPARE OBSERVATION & FORECAST
World 01 SEED —
WAM predictionGenerated future
GENERATED
FORECAST 001 / 459Loading prediction…0 / 22,000 actions0:00 / 12:28 simulated
05,50011,00016,50022,000 actions
INSPECT A FORECASTof 459
Current frame → +6 → +12 → … → +48 actions
Loading recording cadence…
03 / FOLLOW THE OUTCOME
Reward over the rollout.
Step 2,000Step 1,000
Click the chart to seek. Reward is measured every 50 actions. A value of 1 means the task is solved.
About these recordings Protocol, timing & interpretation
Closed-loop simulation
Each call sees the latest simulator cameras and measured state, predicts a 48-action block, and executes it. Generated video is saved for inspection and is never fed back as the next observation.
Independent prediction windows
Every forecast contains the current frame followed by eight generated frames. “Loop this forecast” isolates one window. “Play rollout” follows the full simulator timeline and selects its corresponding forecast.
Matching the training contract
Absolute canonical base-frame end-effector actions, ABC-source quantile normalization, canonical grippers, and inverse kinematics. The canvas puts the top camera above the left and right wrist cameras.
Read results at the right scope
Each checkpoint evaluates ten shared worlds. New recordings appear individually as they finish; the ready count shows the scope of the displayed results. All 22,000 actions are budgeted; the last stored simulator image is at action —.