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arXiv · 2512.23541

Act2Goal: From World Model To General Goal-conditioned Policy

Pengfei Zhou·Liliang Chen·Shengcong Chen·Di Chen·Wenzhi Zhao·Rongjun Jin·Guanghui Ren·Jianlan Luo
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Abstract

Specifying robotic manipulation tasks in a manner that is both expressive and precise remains a central challenge. While visual goals provide a compact and unambiguous task specification, existing goal-conditioned policies often struggle with long-horizon manipulation due to their reliance on single-step action prediction without explicit modeling of task progress. We propose Act2Goal, a general goal-conditioned manipulation policy that integrates a goal-conditioned visual world model with multi-scale temporal control. Given a current observation and a target visual goal, the world model generates a plausible sequence of intermediate visual states that captures long-horizon structure. To translate this visual plan into robust execution, we introduce Multi-Scale Temporal Hashing (MSTH), which decomposes the imagined trajectory into dense proximal frames for fine-grained closed-loop control and sparse distal frames that anchor global task consistency. The policy couples these representations with motor control through end-to-end cross-attention, enabling coherent long-horizon behavior while remaining reactive to local disturbances. Act2Goal achieves strong zero-shot generalization to novel objects, spatial layouts, and environments. We further enable reward-free online adaptation through hindsight goal relabeling with LoRA-based finetuning, allowing rapid autonomous improvement without external supervision. Real-robot experiments demonstrate that Act2Goal improves success rates from 30% to 90% on challenging out-of-distribution tasks within minutes of autonomous interaction, validating that goal-conditioned world models with multi-scale temporal control provide structured guidance necessary for robust long-horizon manipulation. Project page: https://act2goal.github.io/

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Pengfei Zhou, Liliang Chen, Shengcong Chen, Di Chen, Wenzhi Zhao, Rongjun Jin, Guanghui Ren, Jianlan Luo. 2025-12-29. Act2Goal: From World Model To General Goal-conditioned Policy. https://arxiv.org/abs/2512.23541

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