XGenAct: Geometry-Enhanced World Action Models through Cross-Task Generation
World action models (WAMs) have advanced robot control by predicting how observations and actions evolve over time. Despite this progress, RGB and action based future prediction does not explicitly address the spatial understanding needed for robot manipulation. Existing efforts often add a limited set of spatial prediction tasks through specialized heads or branches, leaving both the range of spatial supervision and the model architecture fragmented. We introduce XGenAct, a world action model that represents RGB observations, robot actions, metric depth, surface normals, and functional role segmentation as RGB videos through deterministic codecs. By sampling perception and action tasks d...
| Authors | Tingting Du, Ziyao Wang, Guoheng Sun et al. |
|---|---|
| Primary category | cs.RO |
| Published | 2 October 2026 |
| Last updated at source | 2 October 2026 |
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