Pelican-Sim 1.0: A General World Model Simulator for Embodied Intelligence
Pelican-Sim 1.0 predicts future observations from visual context and robot actions; four-step autoregressive rollouts yield 5.67x speedup and raise policy success from 70% to 93%.
Pelican-Sim 1.0 is a general world model simulator for embodied intelligence that predicts future observations from visual context and robot actions using a 28-dimensional unified action space valid across heterogeneous embodiments. Sparse mixture-of-experts layers reduce FVD by 6.530 versus the dense backbone, and causal adaptation with few-step distillation yields a four-step autoregressive simulator achieving a 5.67-fold speedup over the 35-step model. Trained on roughly one million real-world and simulated trajectories, PSNR improves over the strongest baselines by 4.636 on AgiBotWorld Beta, 2.080 on RoboMIND, and 10.343 on RoboTwin. Downstream on RoboTwin, adding 500 generated trajectories to 50 demonstrations per task raises policy success from 70% to 93%, and policy evaluation reaches a Pearson correlation of 0.994.