---
pipeline_tag: image-to-video
library_name: diffusers
---

This repository contains the model described in [ORV: 4D Occupancy-centric Robot Video Generation](https://huggingface.co/papers/2506.03079).

- **Project page:** https://orangesodahub.github.io/ORV/
- **Code:** https://github.com/OrangeSodahub/ORV

The model is an image-to-video generation model for robot manipulation, based on CogVideoX and trained with action and occupancy-derived guidance.