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arXiv · 2610.39232

Seeing and Imagining as One: Unified Video Generation and 4D Perception for Embodied World Modeling

Haitang Feng·Zhuoman Liu·Zhennan Wang·Sheng Wang·Juelin Li·Chengzhi Zhao·Hexiang Wei·Lin Shao
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Abstract

Embodied world models should not only imagine plausible futures, but also perceive the geometric, semantic, and motion structure of the evolving world. We present GenSight, a unified embodied world model that brings future video generation and dense perception into a single pretrained video diffusion transformer. GenSight uses a unified spatiotemporal representation for video, depth, embodiment segmentation, and first-frame-relative 2D flow. Built on a shared DiT backbone, GenSight uses lightweight task modulation to predict all modalities within the same architecture. All tasks are jointly optimized within a unified velocity prediction space. At inference, GenSight supports two complementary modes: multi-step future video generation with aligned dense predictions and single-step dense perception from an observed video. By unifying modality representation, model architecture, and prediction space, GenSight avoids separate modality-specific pipelines and couples appearance, geometry, semantics, and motion in a shared representation. It promotes cross-modal consistency and allows dense perception to benefit from the spatiotemporal priors learned through video generation. Trained on embodied manipulation data spanning multiple robot embodiments and human-hand interactions, GenSight demonstrates strong performance in both video generation and dense 4D perception, highlighting the effectiveness of unifying seeing and imagining for embodied world modeling.

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Haitang Feng, Zhuoman Liu, Zhennan Wang, Sheng Wang, Juelin Li, Chengzhi Zhao, Hexiang Wei, Lin Shao. 2026-10-29. Seeing and Imagining as One: Unified Video Generation and 4D Perception for Embodied World Modeling. https://arxiv.org/abs/2610.39232

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