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README.md
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**Astra** is an **interactive**, action-driven world model that predicts long-horizon future videos across diverse real-world scenarios. Built on an autoregressive diffusion transformer with temporal causal attention, Astra supports **streaming prediction** while preserving strong temporal coherence. Astra introduces **noise-augmented history memory** to stabilize long rollouts, an **action-aware adapter** for precise control signals, and a **mixture of action experts** to route heterogeneous action modalities. Through these key innovations, Astra delivers consistent, controllable, and high-fidelity video futures for applications such as autonomous driving, robot manipulation, and camera motion.
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<img src="./assets/images/pipeline.png" alt="Astra Pipeline" width="90%">
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## Gallery
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**Astra** is an **interactive**, action-driven world model that predicts long-horizon future videos across diverse real-world scenarios. Built on an autoregressive diffusion transformer with temporal causal attention, Astra supports **streaming prediction** while preserving strong temporal coherence. Astra introduces **noise-augmented history memory** to stabilize long rollouts, an **action-aware adapter** for precise control signals, and a **mixture of action experts** to route heterogeneous action modalities. Through these key innovations, Astra delivers consistent, controllable, and high-fidelity video futures for applications such as autonomous driving, robot manipulation, and camera motion.
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<img src="./assets/images/pipeline.png" alt="Astra Pipeline" width="90%">
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</div>
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## Gallery
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