Action-Conditioned World Models

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54 papers in the last four weeks, up 260% on the four weeks before. 0.5% of all new papers.

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SyncWorld: Visual Calibration Enables World Models as Zero-Shot Simulators
Sep 8, 2026Yuncong Yang, Zhengtao Han, Furkan Ozyurt +6World Model Learning World Models for Robotics
UMass Amherst · UC Berkeley · NYU +1
Earth System World Model for What-If Simulations: A Case Study for Terrestrial Ecosystems
Sep 8, 2026Zhihao Wang, Ruichen Wang, Ruohan Li +6Surrogate Modeling World Model Learning
University of Maryland · Rutgers University · University of Texas at Austin +1
WorldAgen: Unified State-Action Prediction with Test-Time World Model Training
Sep 8, 2026Chi Wan, Kangrui Wang, Yuan Si +2Test-Time Adaptation Action-Conditioned World Models
Northwestern University
CST-WM: A Causally Structured World Model for Embodied Visual Tracking
Sep 5, 2026Junyi Hu, Shuaihang Yuan, Jiazhao Liang +1Causal World Models Visual Object Tracking
New York University Abu Dhabi
Toward Physically Grounded JEPA World Models for Goal-Conditioned Robotic Planning
Sep 3, 2026Muyuan Liu, Yue Huang, Zheng Liang +1World Models for Robotics World Model-Based Planning
GENISOM AI, Beijing, China
GPU-Accelerated Astrodynamics World Models for Spacecraft Rendezvous and Proximity Operations
Sep 2, 2026Duncan Eddy, Isaac R. Ward, Grace Ra Kim +1Spacecraft Rendezvous and Proximity Operations World Models
Stanford University
AGI Maze Prediction Datasets: A Compact Benchmark for Learning World Dynamics with Transformers
Sep 2, 2026Alexey PotapovWorld Models Action-Conditioned World Models
SingularityNET Foundation
Belief-Calibrated Optimization: An Explicit World Model for Agentic Optimization
Sep 1, 2026Yuhan Chen, Zhihua Tian, Mahavir Dabas +7Large Language Model-Guided Optimization Action-Conditioned World Models
1Virginia Tech · 2Amazon · 3Independent Researcher
IMPACT: Attention Is the Interaction Map for Scalable Interaction-Aware World Model Training
Aug 31, 2026Rongze Tang, Jianjie Fang, Zhaolu Wang +8World Model Learning Action-Conditioned World Models
University of Science and Technology of China · 2Zhongguancun Academy · 3Tsinghua University +1
CAER: Causal Action Effect Reweighting for World Model Training
Aug 31, 2026Jianjie Fang, Xvyuan Liu, Ziyou Wang +9Action-Conditioned Video Generation World Model Learning
1Tsinghua University · University of Science and Technology of China · 2Manifold AI
Can Video World Models Track Unobserved World States?
Aug 31, 2026Joonghyuk Shin, Yicong Hong, Jaesik Park +1Action-Conditioned World Models Length Generalization
Seoul National University · Roblox
Hydra: A Navigation World Action Model with Discrete Latent Planning and Continuous Flow-Matching Execution
Aug 29, 2026Mohammad Nazeri, Alexandyr Card, Samira Huber +6Kinodynamic Motion Planning World Models for Robotics
George Mason University · Kiel University · Ludwig Maximilian University Munich +1
BehaviorWorldGen: Closing the Loop between Action Models and World Simulators via Controllable Behavior-Aware Structured World Generation
Aug 23, 2026Jiaqi Wang, Zhuo Zhang, Haining Guan +15Action-Conditioned World Models World Models for Autonomous Driving
AFARI World Model Team
ContactGuard: Pre-Contact Execution Monitoring with Action-Conditioned Latent World Models
Aug 13, 2026Gehan Zheng, Matthew Johnson-Roberson, Weiming ZhiRobot Failure Detection Contact-Rich Robotic Manipulation
College of Connected Computing, Vanderbilt University, USA. · School of Computer Science, The University of Sydney, Australia. · 3Australian Centre for Robotics, The University of Sydney, Australia.
Diagnosing JEPA World Models with Action-Conditioned Predictive Consistency
Aug 13, 2026Guo An, Zijing Wu, Honghua Dong +7World Models Joint-Embedding Predictive Architecture
Huawei · University of Science and Technology of China · Zhejiang University +3
FACT: Failure-Aware Causal Training for World-Action Models
Aug 10, 2026Quanquan Peng, Yutong Liang, Rui Yan +2Causal World Models Action-Conditioned World Models
University of California San Diego
Rethink Before You Execute: Adaptive Execution for World Action Models
Aug 10, 2026Feng Ye, Yiming Zhao, Yong Yu +5World Models for Robotics LLM Planning
Wangxuan Institute of Computer Technology, Peking University · Simplexity Robotics
WorldSimProbe: Diagnosing Simulator Faithfulness in Action-Conditioned World Models for Embodied Manipulation
Aug 10, 2026Peterson Co, Sicheng Hu, Chunxuan Jiao +17Robotics Simulation Action-Conditioned World Models
State Key Laboratory of Multimedia Information Processing, School of Computer Science, Peking University
4D-WAM: Infusing Spatiotemporal Awareness into World Action Models through Trajectory Fields
Aug 8, 2026Lishan Yang, Wenxuan Song, Xi Wang +14World Models for Robotics Action-Conditioned World Models
Adelaide University · HKUST(GZ) · Tsinghua University +3
CausalNav: Reliability-Certified Causal World Models for Control under Physical-Parameter Shift
Aug 7, 2026Yiyao Zhang, Diksha Goel, Hussain Ahmad +2Causal World Models World Models
School of Computing and Information Technology, University of Wollongong, Wollongong, NSW, Australia · CSIRO’s Data61, Clayton, VIC, Australia · School of Computer Science and Information Technology, Adelaide University, Adelaide, SA, Australia
SpikeWorld: Fast-State Adaptation for Frozen Spiking World Models
Aug 7, 2026Ziqiao YuTest-Time Adaptation World Model Learning
DiDi International Business Group
Beyond Myopic World Models: Long-Horizon End-to-End Training for Direct Future Prediction
Aug 7, 2026Xinyi Li, Zaishuo Xia, Chenjie Hao +1World Model Learning Action-Conditioned World Models
University of California, Davis
Is Forward Prediction Enough? Physical State Grounding for JEPA World Models
Aug 7, 2026Haodong Yan, Jiaguan Zhu, Mingyuan Jia +12Physical Reasoning World Models for Robotics
1The Hong Kong University of Science and Technology (Guangzhou), Guangzhou, China · 2COCO Matrix
Dueling World Models: Advantage-Style Action Channels for Common-Mode Distractor Rejection
Aug 7, 2026Jiazhuo Li, Yiming Fei, Zhiruo Zhou +1Action-Conditioned World Models Latent World Models
University of Michigan, Ann Arbor, MI, USA · Zhejiang University, Hangzhou, China · Wuhan University of Technology, Wuhan, China +1
GeniWorld: A Generalizable Interactive World Model for Robotic Manipulation via Visual Actions
Aug 6, 2026Chenghao Gu, Hanyang Yu, Jingbo Zhang +7Action-Conditioned World Models Robotic Policy Evaluation
Shenzhen International Graduate School, Tsinghua University · Tencent Robotics X · The Hong Kong University of Science and Technology +1
XEWorld: Can Action-Conditioned World Models Generalize to Unseen Robot Embodiments?
Aug 6, 2026Yixiang Chen, Jiabing Yang, Yuan Xu +10World Model Learning Action-Conditioned World Models
New Laboratory of Pattern Recognition (NLPR), Institute of Automation, Chinese Academy of Sciences · School of Artificial Intelligence, University of Chinese Academy of Sciences · Shandong University +1
DreamWAM: Beyond RGB Future Prediction for World Action Models
Aug 5, 2026Shanglin Yuan, Weiheng Zhao, Xin Shi +6World Model Learning Action-Conditioned World Models
Huazhong University of Science and Technology · D-Robotics · Wuhan University +1
WorldCycle: Self-Verifiable Reinforcement Learning for Long-Horizon Video World Models
Aug 5, 2026Bohai Gu, Yueyang Yuan, Taiyi Wu +9World Model-Based Planning Action-Conditioned World Models
1The Hong Kong University of Science and Technology · 2Wuhan University · 3AI Technology Center, Tencent Video, Tencent
Overcoming Statistical Bias in Action-Controllable World Models
Aug 5, 2026Yuhong Shi, Zhenhao Chu, Jie Wei +3World Models Action-Conditioned World Models
Institute of Artificial Intelligence and Robotics, Xi’an Jiaotong University, Xi’an, China · China Mobile (Shanghai) Information and Communication Technology Co., Ltd., Shanghai, China · Zhongguancun Academy, Beijing, China
Faster-WAM: Efficient Inference-Time Future Conditioning for Robust World Action Models
Aug 5, 2026Weiheng Zhao, Haoyi Jiang, Xin Shi +5Action-Conditioned World Models Efficient VLA Model Inference
Huazhong University of Science and Technology · D-Robotics · Horizon Robotics +1

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SyncWorld: Visual Calibration Enables World Models as Zero-Shot Simulators

Yuncong Yang, Zhengtao Han, Furkan Ozyurt, Zeyuan Yang+5

UMass Amherst · UC Berkeley · NYU+1

World Model Learning World Models for Robotics Action-Conditioned World Models

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World models are increasingly used as policy-in-the-loop imagination environments, where reliable rollouts require fine-grained controllability with respect to low-level robot actions. A key obstacle to scaling such models in robotics is that actions are not a universal language in pixel space: changes in visual environment, camera view, robot placement, or embodiment alter how the same numerical action manifests visually, leading to conflicting supervision under mixed training and brittle generalization at deployment. We introduce SyncWorld, an action-conditioned world model that serves as a zero-shot simulator across unseen environments without any additional training. SyncWorld leverages a visual calibration episode---paired frames and actions that showcase all the controllable degrees of freedom---to specify the setup-specific Action--Visual Mapping in context. Training with visual calibration contexts teaches the model to interpret actions through visual evidence and to leverage interaction history when explicit calibration is unavailable. Experiments show that SyncWorld can accurately simulate action outcomes in previously unseen settings, and that its capability of simulating rollouts enables test-time policy improvement without training.

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Latest papers 216