KineWorld: Action-Induced Transport Fields for Embodied World Modeling
Embodied world models predict the visual consequences of candidate actions before execution. However, existing action-conditioned world models often adopt uniformly weighted visual generation objectives that can be misaligned with embodied prediction needs. Even with explicit motion conditioning, these objectives can underemphasize spatially sparse changes that are critical to interaction. We propose KineWorld, a transport-aware world-modeling framework that extends robot kinematics from motion conditioning to the spatial allocation of generative supervision. Kinematic Transport Lifting (KTL) constructs renderer-derived, camera-aligned transport fields from commanded robot motion. Transpo...
| Authors | Ziying Song, Yuchen Liu, Zhuoran Xu et al. |
|---|---|
| Primary category | cs.CV |
| Published | 5 October 2026 |
| Last updated at source | 8 October 2026 |
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