Preprint
Sep 2026
XPACE: Joint World and Action Modeling from Heterogeneous Experience
A general-purpose robot needs to draw on diverse experience, choose actions, and anticipate how those actions will change the world. We introduce XPACE, a unified embodied world model that serves as both a world action model, jointly predicting executable robot actions and future video, and a world simulator, predictin...
Jiacheng Wei, J. Bai, X. Yue et al.
· 1 citation