Tim Pearce

Samuel Garcin, Thomas Walker, Steven McDonagh et al.

Interactive world models continually generate video by responding to a user's actions, enabling open-ended generation capabilities. However, existing models typically lack a 3D representation of the environment, meaning 3D consistency must be implicitly learned from data, and spatial memory is restricted to limited temporal context windows. This results in an unrealistic user experience and presents significant obstacles to down-stream tasks such as training agents. To address this, we present PERSIST, a new paradigm of world model which simulates the evolution of a latent 3D scene: environment, camera, and renderer. This allows us to synthesize new frames with persistent spatial memory and consistent geometry. Both quantitative metrics and a qualitative user study show substantial improvements in spatial memory, 3D consistency, and long-horizon stability over existing methods, enabling coherent, evolving 3D worlds. We further demonstrate novel capabilities, including synthesising diverse 3D environments from a single image, as well as enabling fine-grained, geometry-aware control over generated experiences by supporting environment editing and specification directly in 3D space. Project page: https://francelico.github.io/persist.github.io

Hangxing Wei, Xiaoyu Chen, Chuheng Zhang et al.

Latent action learning infers pseudo-action labels from visual transitions, providing an approach to leverage internet-scale video for embodied AI. However, most methods learn latent actions without structural priors that encode the additive, compositional structure of physical motion. As a result, latents often entangle irrelevant scene details or information about future observations with true state changes and miscalibrate motion magnitude. We introduce Additively Compositional Latent Action Model (AC-LAM), which enforces scene-wise additive composition structure over short horizons on the latent action space. These AC constraints encourage simple algebraic structure in the latent action space~(identity, inverse, cycle consistency) and suppress information that does not compose additively. Empirically, AC-LAM learns more structured, motion-specific, and displacement-calibrated latent actions and provides stronger supervision for downstream policy learning, outperforming state-of-the-art LAMs across simulated and real-world tabletop tasks.