Perceive, Predict, and Plan: a Unified World Action Model for Egocentric Dexterous Manipulation
We introduce P$^{3}$-WAM, a unified world action model for egocentric dexterous manipulation that learns 3D perception, action-conditioned prediction, and goal-directed planning through three complementary modes: Perceive, which reconstructs articulated hand motion and camera trajectories from video; Predict, which generates visual futures under prescribed actions; and Plan, which jointly generates action trajectories and their anticipated visual consequences conditioned on an initial image, a language instruction, and an optional visual goal. Our model integrates a compact, structured 3D action representation into a pretrained video diffusion transformer through a mixture-of-transformers...
| Authors | Zirui Wu, Chen Guo, Tianjian Jiang et al. |
|---|---|
| Primary category | cs.CV |
| Published | 15 October 2026 |
| Last updated at source | 15 October 2026 |
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