ActWorld: From Explorable to Interactive World Model via Action-Aware Memory

Zhexiao Xiong; Yizhi Song; Hao Kang; Qing Yan; Liming Jiang; Jenson Yang; Zhoujie Fu; Stathi Fotiadis; Angtian Wang; Zichuan Liu; Bo Liu; Yiding Yang; Xin Lu; Nathan Jacobs

arXiv · 2606.17730

ActWorld: From Explorable to Interactive World Model via Action-Aware Memory

Zhexiao Xiong·Yizhi Song·Hao Kang·Qing Yan·Liming Jiang·Jenson Yang·Zhoujie Fu·Stathi Fotiadis·Angtian Wang·Zichuan Liu·Bo Liu·Yiding Yang·Xin Lu·Nathan Jacobs

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Abstract

Interactive world models aim to simulate environment dynamics under real-time user actions. However, their action vocabulary is largely confined to navigation: most actions correspond to motion (e.g., walk, turn, look around), while interaction with objects in the scene (e.g., pick up plates, open doors, or trigger physical responses) is either absent, restricted to game domains, or relegated to prompt-to-full-video scenarios. The resulting worlds are visually explorable but not truly actionable. In this work, we present ActWorld, an interactive world model that extends prior navigation-centric generators to support mid-rollout object interaction within a chunk-autoregressive framework. We argue that the navigation-interaction gap stems from two bottlenecks. First, a data bottleneck: the lack of human-object interaction data with accurate, dense labels. Second, a memory bottleneck: recency-biased history compression in existing world models discards the event-transition frames that causally determine subsequent object states, leading to an action-forgetting pathology. On the data side, we construct a 100K interaction video dataset, each annotated with per-chunk captions via chain-of-thought reasoning. On the model side, we introduce a hierarchical action-aware memory design that routes history compression by interaction importance, complemented by a persistent memory bank that maintains event-update and object-identity tokens across long rollouts. Experiments show that ActWorld supports both flexible navigation and rich object interaction within a single model, substantially improving interaction fidelity over navigation-only baselines without sacrificing viewpoint control. Project page is available at https://interactwm.github.io/ActWorld.

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BibTeX RIS

Zhexiao Xiong, Yizhi Song, Hao Kang, Qing Yan, Liming Jiang, Jenson Yang, Zhoujie Fu, Stathi Fotiadis, Angtian Wang, Zichuan Liu, Bo Liu, Yiding Yang, Xin Lu, Nathan Jacobs. 2026-06-16. ActWorld: From Explorable to Interactive World Model via Action-Aware Memory. https://arxiv.org/abs/2606.17730

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