{"id":"https://openalex.org/W7208745281","doi":"https://doi.org/10.48550/arxiv.2609.03557","title":"Building Pretraining Data for World Models: An Unreal Engine-Based Pipeline for Action-Conditioned Video Generation","display_name":"Building Pretraining Data for World Models: An Unreal Engine-Based Pipeline for Action-Conditioned Video Generation","publication_year":2026,"publication_date":"2026-09-03","ids":{"openalex":"https://openalex.org/W7208745281","doi":"https://doi.org/10.48550/arxiv.2609.03557"},"language":"en","primary_location":{"id":"pmh:oai:arXiv.org:2609.03557","doi":null,"is_oa":true,"landing_page_url":"https://arxiv.org/abs/2609.03557","pdf_url":"https://arxiv.org/pdf/2609.03557","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"volume":null,"type":"preprint","indexed_in":["arxiv","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2609.03557","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5138779961","display_name":"Haoyu Wang","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I4210156809","display_name":"Future Academy","ror":"https://ror.org/0570trv98","country_code":"EG","type":"education","lineage":["https://openalex.org/I4210156809"]},{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN","EG"],"is_corresponding":false,"raw_author_name":"Wang, Haoyu","raw_affiliation_strings":["Joy Future Academy ,","Tsinghua University ,"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Joy Future Academy ,","institution_ids":["https://openalex.org/I4210156809"]},{"raw_affiliation_string":"Tsinghua University ,","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059916557","display_name":"Songchun Zhang","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]},{"id":"https://openalex.org/I4210156809","display_name":"Future Academy","ror":"https://ror.org/0570trv98","country_code":"EG","type":"education","lineage":["https://openalex.org/I4210156809"]}],"countries":["EG","HK"],"is_corresponding":false,"raw_author_name":"Zhang, Songchun","raw_affiliation_strings":["Joy Future Academy ,","The Hong Kong University of Science and Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Joy Future Academy ,","institution_ids":["https://openalex.org/I4210156809"]},{"raw_affiliation_string":"The Hong Kong University of Science and Technology","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5140710552","display_name":"Haoran Li","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I4210156809","display_name":"Future Academy","ror":"https://ror.org/0570trv98","country_code":"EG","type":"education","lineage":["https://openalex.org/I4210156809"]}],"countries":["EG"],"is_corresponding":false,"raw_author_name":"Li, Haoran","raw_affiliation_strings":["Joy Future Academy ,"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Joy Future Academy ,","institution_ids":["https://openalex.org/I4210156809"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020769158","display_name":"Haoyang Huang","orcid":"https://orcid.org/0009-0009-1431-9112","observed_orcids":["https://orcid.org/0009-0009-1431-9112","https://orcid.org/0000-0002-3804-5437"]},"institutions":[{"id":"https://openalex.org/I4210156809","display_name":"Future Academy","ror":"https://ror.org/0570trv98","country_code":"EG","type":"education","lineage":["https://openalex.org/I4210156809"]}],"countries":["EG"],"is_corresponding":false,"raw_author_name":"Huang, Haoyang","raw_affiliation_strings":["Joy Future Academy ,"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Joy Future Academy ,","institution_ids":["https://openalex.org/I4210156809"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040083129","display_name":"Zeyue Xue","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I4210156809","display_name":"Future Academy","ror":"https://ror.org/0570trv98","country_code":"EG","type":"education","lineage":["https://openalex.org/I4210156809"]}],"countries":["EG"],"is_corresponding":false,"raw_author_name":"Xue, Zeyue","raw_affiliation_strings":["Joy Future Academy ,"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Joy Future Academy ,","institution_ids":["https://openalex.org/I4210156809"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5138266330","display_name":"Nan Duan","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I4210156809","display_name":"Future Academy","ror":"https://ror.org/0570trv98","country_code":"EG","type":"education","lineage":["https://openalex.org/I4210156809"]}],"countries":["EG"],"is_corresponding":false,"raw_author_name":"Duan, Nan","raw_affiliation_strings":["Joy Future Academy ,"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Joy Future Academy ,","institution_ids":["https://openalex.org/I4210156809"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10481","display_name":"Computer Graphics and Visualization Techniques","score":0.7387999892234802,"subfield":{"id":"https://openalex.org/subfields/1704","display_name":"Computer Graphics and Computer-Aided Design"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10481","display_name":"Computer Graphics and Visualization Techniques","score":0.7387999892234802,"subfield":{"id":"https://openalex.org/subfields/1704","display_name":"Computer Graphics and Computer-Aided Design"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11574","display_name":"Artificial Intelligence in Games","score":0.08240000158548355,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.03759999945759773,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/world-models","display_name":"world models","score":0.7279999852180481},{"id":"https://openalex.org/keywords/synthetic-data-generation","display_name":"synthetic data generation","score":0.5809999704360962},{"id":"https://openalex.org/keywords/unreal-engine","display_name":"Unreal Engine","score":0.9940000176429749},{"id":"https://openalex.org/keywords/physics-simulation","display_name":"physics simulation","score":0.5230000019073486},{"id":"https://openalex.org/keywords/multi-view-video","display_name":"multi-view video","score":0.7540000081062317},{"id":"https://openalex.org/keywords/data-curation","display_name":"data curation","score":0.6320000290870667},{"id":"https://openalex.org/keywords/humanoid-characters","display_name":"humanoid characters","score":0.48500001430511475},{"id":"https://openalex.org/keywords/real-time-rendering","display_name":"real-time rendering","score":0.4320000112056732}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.741599977016449},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.5809000134468079},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.5460000038146973},{"id":"https://openalex.org/C205711294","wikidata":"https://www.wikidata.org/wiki/Q176953","display_name":"Rendering (computer graphics)","level":2,"score":0.5015000104904175},{"id":"https://openalex.org/C93996380","wikidata":"https://www.wikidata.org/wiki/Q44127","display_name":"Server","level":2,"score":0.45579999685287476},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.3944000005722046},{"id":"https://openalex.org/C160403385","wikidata":"https://www.wikidata.org/wiki/Q220543","display_name":"Queue","level":2,"score":0.3871000111103058},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.3797000050544739},{"id":"https://openalex.org/C168167062","wikidata":"https://www.wikidata.org/wiki/Q1117970","display_name":"Component (thermodynamics)","level":2,"score":0.3422999978065491},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.31369999051094055},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2953999936580658},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.29420000314712524},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.2904999852180481},{"id":"https://openalex.org/C151319957","wikidata":"https://www.wikidata.org/wiki/Q752739","display_name":"Asynchronous communication","level":2,"score":0.287200003862381},{"id":"https://openalex.org/C9390403","wikidata":"https://www.wikidata.org/wiki/Q3966","display_name":"Computer hardware","level":1,"score":0.2736000120639801},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.27320000529289246},{"id":"https://openalex.org/C172367668","wikidata":"https://www.wikidata.org/wiki/Q6504956","display_name":"Data visualization","level":3,"score":0.26989999413490295},{"id":"https://openalex.org/C179518139","wikidata":"https://www.wikidata.org/wiki/Q5140297","display_name":"Coding (social sciences)","level":2,"score":0.25690001249313354},{"id":"https://openalex.org/C166142869","wikidata":"https://www.wikidata.org/wiki/Q60061622","display_name":"Video production","level":2,"score":0.2542000114917755}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:oai:arXiv.org:2609.03557","doi":null,"is_oa":true,"landing_page_url":"https://arxiv.org/abs/2609.03557","pdf_url":"https://arxiv.org/pdf/2609.03557","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"doi:10.48550/arxiv.2609.03557","doi":"https://doi.org/10.48550/arxiv.2609.03557","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2609.03557","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2609.03557","doi":null,"is_oa":true,"landing_page_url":"https://arxiv.org/abs/2609.03557","pdf_url":"https://arxiv.org/pdf/2609.03557","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W7208745281.pdf","grobid_xml":"https://content.openalex.org/works/W7208745281.grobid-xml"},"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W4409957702","https://openalex.org/W2980823292","https://openalex.org/W7134054690","https://openalex.org/W7154015547","https://openalex.org/W2559917662","https://openalex.org/W7203638886","https://openalex.org/W4402353852","https://openalex.org/W7166882663","https://openalex.org/W7203707334","https://openalex.org/W7172029719"],"abstract_inverted_index":{"Action-conditioned":[0],"video":[1,29,195],"models":[2],"require":[3],"large-scale":[4,44],"visual":[5,36],"data":[6,46,225],"paired":[7],"with":[8,15,118,132,161,180],"control":[9,94],"signals":[10],"that":[11,33,210],"are":[12,38],"temporally":[13],"aligned":[14],"the":[16,31,60,71,204,207,216,234],"resulting":[17],"scene":[18,140],"transitions.":[19],"Such":[20],"supervision":[21],"is":[22],"difficult":[23],"to":[24],"obtain":[25],"from":[26,212],"ordinary":[27],"real-world":[28],"because":[30],"actions":[32],"caused":[34],"each":[35],"change":[37],"typically":[39],"unknown.":[40],"We":[41,202],"present":[42],"a":[43,110,128,181],"synthetic":[45],"production":[47,130,156,178,213,238],"pipeline":[48,72,188,228],"built":[49],"on":[50],"Unreal":[51,235],"Engine":[52,236],"for":[53,177,223],"generating":[54],"action-conditioned,":[55],"multi-view":[56],"video.":[57,201],"To":[58],"accommodate":[59],"different":[61],"execution":[62],"requirements":[63],"of":[64,183,193,199,218],"real-time":[65],"physics":[66,86],"and":[67,76,89,96,114,143,150,196,215],"high-quality":[68],"offline":[69,117],"rendering,":[70],"executes":[73],"trajectory":[74,102],"generation":[75],"final":[77],"rendering":[78],"in":[79,87,109,230,241],"two":[80],"stages:":[81],"Stage":[82,104],"I":[83],"runs":[84],"real":[85],"PIE":[88],"records":[90],"per-frame":[91],"character":[92],"states,":[93],"inputs,":[95],"camera":[97],"states":[98],"into":[99],"an":[100],"intermediate":[101],"representation;":[103],"II":[105],"replays":[106],"those":[107],"trajectories":[108],"new":[111],"engine":[112],"process":[113],"renders":[115],"them":[116],"Movie":[119],"Render":[120],"Queue":[121],"(MRQ).":[122],"Around":[123],"this":[124,231],"core,":[125],"we":[126],"develop":[127],"distributed":[129],"system":[131,205],"cache-aware":[133],"task":[134],"partitioning,":[135],"node-local":[136],"slot":[137],"scheduling,":[138],"automated":[139],"screening,":[141],"aesthetic":[142],"luminance":[144],"filtering,":[145],"partial-output":[146],"recovery,":[147],"asynchronous":[148],"upload,":[149],"continuous":[151],"cluster":[152,157],"health":[153],"monitoring.":[154],"The":[155,187,227],"contains":[158],"25":[159],"servers":[160],"eight":[162],"NVIDIA":[163],"RTX":[164],"5090":[165],"GPUs":[166],"per":[167],"server.":[168],"From":[169],"2,384":[170],"asset":[171],"packs,":[172],"429":[173],"levels":[174],"were":[175],"retained":[176],"together":[179],"pool":[182],"40":[184],"humanoid":[185],"characters.":[186],"has":[189],"produced":[190],"2,691":[191],"hours":[192,198],"1080p":[194],"6,076":[197],"720p":[200],"describe":[203],"architecture,":[206],"implementation":[208],"decisions":[209],"emerged":[211],"failures,":[214],"limitations":[217],"using":[219],"perceptual":[220],"quality":[221],"proxies":[222],"world-model":[224],"curation.":[226],"described":[229],"report":[232],"constitutes":[233],"synthetic-data":[237],"component":[239],"used":[240],"EchoWM.":[242]},"counts_by_year":[],"updated_date":"2026-10-28T10:33:24.094632","created_date":"2026-09-05T00:00:00"}