Uranus is a data-driven robot simulator built on a joint-trajectory-conditioned autoregressive diffusion model that generates streaming, open-ended video rollouts from future joint-position trajectories without a fixed time horizon. It reaches 24 FPS after inference optimization and exposes a unified interface for synchronized multi-view generation across different robot embodiments and camera configurations, aimed at cutting the labor cost of building conventional simulators. Code and model weights are released alongside in- and out-of-distribution evaluations.
