[2606.20781] World Action Models: A Survey

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Computer Science > Robotics

arXiv:2606.20781 (cs)

[Submitted on 18 Jun 2026]

Title:World Action Models: A Survey

Authors:Qiuhong Shen, Shihua Zhang, Yue Liao, Qi Li, Zhenxiong Tan, Shizun Wang, Shuicheng Yan, Xinchao Wang<br>View a PDF of the paper titled World Action Models: A Survey, by Qiuhong Shen and 7 other authors

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Abstract:World Action Models (WAMs) are embodied predictive-action models that make a forecast of the future available to action. Recent WAMs repurpose large video generation models, and a parallel line relies on language or vision-language backbones without a video-generation core. This rapid expansion has blurred the boundary among broad world models, video generation models, action-grounded video world models, Vision-Language-Action policies, and WAMs. This survey gives the field a common account. It first clarifies these boundaries, then organizes existing works through two complementary views. The first view asks what each method is required to generate, spanning rendered futures, latent futures, and video-generation-free action reasoning. The second view decomposes each method by predictive substrate, backbone, action coupling, and deployment regime. This anatomy supports a unified discussion of interactability, causality, persistence, physical plausibility, and generalization, followed by data, evaluation, and open challenges. Across these axes, a consistent design pattern emerges: WAMs are not simply video generators with action heads, but predictive-action methods whose design choices trade representational richness against compute, memory, latency, and action-label cost. The field is moving toward methods that generate less of the future while preserving what control requires. The survey homepage is available at this https URL.

Comments:<br>57 pages, 6 figures

Subjects:

Robotics (cs.RO); Computer Vision and Pattern Recognition (cs.CV)

Cite as:<br>arXiv:2606.20781 [cs.RO]

(or<br>arXiv:2606.20781v1 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2606.20781

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arXiv-issued DOI via DataCite

Submission history<br>From: Qiuhong Shen [view email]<br>[v1]<br>Thu, 18 Jun 2026 17:05:19 UTC (421 KB)

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