{"id":"https://openalex.org/W7128713332","doi":"https://doi.org/10.48550/arxiv.2602.10717","title":"Say, Dream, and Act: Learning Video World Models for Instruction-Driven Robot Manipulation","display_name":"Say, Dream, and Act: Learning Video World Models for Instruction-Driven Robot Manipulation","publication_year":2026,"publication_date":"2026-02-11","ids":{"openalex":"https://openalex.org/W7128713332","doi":"https://doi.org/10.48550/arxiv.2602.10717"},"language":null,"primary_location":{"id":"pmh:doi:10.48550/arxiv.2602.10717","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":null,"any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5125709450","display_name":"Songen Gu","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Gu, Songen","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5125700942","display_name":"Yunuo Cai","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Cai, Yunuo","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5125749135","display_name":"Tianyu Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Tianyu","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5125753404","display_name":"Simo Wu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wu, Simo","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5125707101","display_name":"Yanwei Fu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Fu, Yanwei","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5125709450"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.7240999937057495,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.7240999937057495,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T10653","display_name":"Robot Manipulation and Learning","score":0.09319999814033508,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.03200000151991844,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6243000030517578},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.510200023651123},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.47760000824928284},{"id":"https://openalex.org/keywords/adversarial-system","display_name":"Adversarial system","score":0.43560001254081726},{"id":"https://openalex.org/keywords/train","display_name":"Train","score":0.4278999865055084},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.38019999861717224},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.3517000079154968}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7936000227928162},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6446999907493591},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6243000030517578},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.510200023651123},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.47760000824928284},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.45100000500679016},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.450300008058548},{"id":"https://openalex.org/C37736160","wikidata":"https://www.wikidata.org/wiki/Q1801315","display_name":"Adversarial system","level":2,"score":0.43560001254081726},{"id":"https://openalex.org/C190839683","wikidata":"https://www.wikidata.org/wiki/Q2448197","display_name":"Train","level":2,"score":0.4278999865055084},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.38019999861717224},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.3517000079154968},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.3328999876976013},{"id":"https://openalex.org/C2779038628","wikidata":"https://www.wikidata.org/wiki/Q7248497","display_name":"Programming by demonstration","level":3,"score":0.3246000111103058},{"id":"https://openalex.org/C2987834672","wikidata":"https://www.wikidata.org/wiki/Q4677630","display_name":"Action recognition","level":3,"score":0.3003999888896942},{"id":"https://openalex.org/C2776544517","wikidata":"https://www.wikidata.org/wiki/Q189447","display_name":"Unexpected events","level":2,"score":0.29580000042915344},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.29179999232292175},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.2815999984741211},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2797999978065491},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.27799999713897705},{"id":"https://openalex.org/C202474056","wikidata":"https://www.wikidata.org/wiki/Q1931635","display_name":"Video tracking","level":3,"score":0.2718000113964081}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:doi:10.48550/arxiv.2602.10717","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},{"id":"doi:10.48550/arxiv.2602.10717","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2602.10717","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:doi:10.48550/arxiv.2602.10717","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Robotic":[0],"manipulation":[1],"requires":[2],"anticipating":[3],"how":[4],"the":[5],"environment":[6],"evolves":[7],"in":[8,22,131],"response":[9],"to":[10,78,106],"actions,":[11],"yet":[12],"most":[13],"existing":[14,40,141],"systems":[15],"lack":[16],"this":[17],"predictive":[18,64],"capability,":[19],"often":[20],"resulting":[21],"errors":[23],"and":[24,39,63,71,92,103,137],"inefficiency.":[25],"While":[26],"Vision-Language":[27],"Models":[28,145],"(VLMs)":[29],"provide":[30],"high-level":[31],"guidance,":[32],"they":[33],"cannot":[34],"explicitly":[35],"forecast":[36],"future":[37,81],"states,":[38],"world":[41],"models":[42],"either":[43],"predict":[44],"only":[45],"short":[46],"horizons":[47],"or":[48],"produce":[49],"spatially":[50,119],"inconsistent":[51],"frames.":[52],"To":[53],"address":[54],"these":[55],"challenges,":[56],"we":[57],"propose":[58],"a":[59,73],"framework":[60],"for":[61,87],"fast":[62],"video-conditioned":[65],"action.":[66],"Our":[67],"approach":[68],"first":[69],"selects":[70],"adapts":[72],"robust":[74],"video":[75,90,121],"generation":[76],"model":[77,97],"ensure":[79],"reliable":[80],"predictions,":[82],"then":[83],"applies":[84],"adversarial":[85],"distillation":[86],"fast,":[88],"few-step":[89],"generation,":[91],"finally":[93],"trains":[94],"an":[95],"action":[96],"that":[98,113,123],"leverages":[99],"both":[100],"generated":[101],"videos":[102],"real":[104],"observations":[105],"correct":[107],"spatial":[108,134],"errors.":[109],"Extensive":[110],"experiments":[111],"show":[112],"our":[114],"method":[115],"produces":[116],"temporally":[117],"coherent,":[118],"accurate":[120],"predictions":[122],"directly":[124],"support":[125],"precise":[126],"manipulation,":[127],"achieving":[128],"significant":[129],"improvements":[130],"embodiment":[132],"consistency,":[133],"referring":[135],"ability,":[136],"task":[138],"completion":[139],"over":[140],"baselines.":[142],"Codes":[143],"&":[144],"will":[146],"be":[147],"released.":[148]},"counts_by_year":[],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2026-02-13T00:00:00"}