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arXiv · 2607.01166

Structured 4D Latent Predictive Model for Robot Planning

Zhiyi Li·Peilin Wu·Xiaoshen Han·Ruojin Cai·Yilun Du
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Abstract

Video predictive models are emerging as a powerful paradigm in robotics, offering a promising path toward task generalization, long-horizon planning, and flexible decision-making. However, prevailing approaches often operate on 2D video sequences, inherently lacking the 3D geometric understanding necessary for precise spatial reasoning and physical consistency. We introduce a Structured 4D Latent Predictive Model, which predicts the evolution of a scene's 3D structure in a structured latent space conditioned on observations and textual instructions. Our representation encodes the scene holistically and can be decoded into diverse 3D formats, enabling a more complete and 3D consistent scene understanding. This structured 4D latent predictive model serves as a planner, generating future scenes that are translated into executable actions by a goal-conditioned inverse dynamics module. Experiments demonstrate that our model generates futures with strong visual quality, substantially better 3D consistency and multi-view coherence compared to state-of-the-art video-based planners. Consequently, our full planning pipeline achieves superior performance on complex manipulation tasks, exhibits robust generalization to novel visual conditions, and proves effective on real-world robotic platforms. Our website is available at https://structured-4d-model.github.io/.

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Zhiyi Li, Peilin Wu, Xiaoshen Han, Ruojin Cai, Yilun Du. 2026-07-01. Structured 4D Latent Predictive Model for Robot Planning. https://arxiv.org/abs/2607.01166

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