TAPESTRY: A Single Backbone for Video Generation and Robot Control
Pretrained video generation models encode rich priors about physical interactions, but leveraging them for robot control typically requires either resource-intensive video generation at test time or action heads trained from scratch that do not fully utilize the pretrained backbone. We introduce Tokenizing Actions as Video Patches in a Shared Transformer Policy (TAPESTRY), a world action model that repurposes a pretrained video diffusion transformer into a robotic policy without requiring video generation at inference. Our key idea is to treat robot actions as single-patch tokens in the video model's latent space. A lightweight linear projection maps each action timestep to the patch dime...
| Authors | Jeremy A. Collins, Seungjae Lee, Rachanon Wachakorn et al. |
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| Primary category | cs.RO |
| Published | 27 October 2026 |
| Last updated at source | 27 October 2026 |
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