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arXiv Computation and Language

See Better, Foresee Better, Act Wiser: Physically Grounded Proactive Modeling and Decision Making

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arXiv AI
Oct 2

NextMe-800: Anticipating Personal Behavior from Months of Egocentric Video

NextMe-800 is an approximately 800‑hour first‑person video dataset collected from a single volunteer over 126 days, featuring 1 Hz images, gaze, and audio. The data are captioned at five hierarchical abstraction levels—from atomic actions to major activities—enabling personalized action anticipation as an open‑vocabulary K‑step sequence prediction task. The authors also introduce NextAct, a 1,500‑point benchmark that combines NextMe‑800 with the multi‑person EgoLife dataset, and evaluate models using an embedding‑based soft edit distance to assess how well personal behavior can be anticipated across abstraction levels and prediction horizons.

By Zhaoxu Meng, Yiming Sun, Mingyuan Gao, Jiachang Zhang, Zhuhan Dai, Yipeng Du, Zheng Lian, Jian-Qiao Zhu
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arXiv Machine Learning
Oct 28

TimeWorld: Towards Action-Conditioned Multimodal World Models for Time Series Forecasting

TimeWorld introduces a plug‑in framework for action‑conditioned multimodal world models in time‑series forecasting. It builds on pretrained time‑series foundation models (TSFMs) and adds a Prototype‑Guided Latent Modulation module to embed textual actions into temporal dynamics, along with an Action Contrastive Learning component to sharpen action‑specific response modeling. The authors also present TSWM‑Bench, a cross‑domain benchmark of seven real‑world datasets with textual interventions, showing that simple text‑prefix adaptations outperform conventional multimodal forecasters and that pretrained TSFMs already encode useful world knowledge for action‑conditioned predictions.

By Hang Ni, Weijia Zhang, Hao Liu
multimodalbenchmarks
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arXiv AI
Sep 25

Planning Takes More Than Token Prediction: Causal Plan for Benchmarking and Building Physically Grounded Embodied Reasoners

The paper argues that current embodied vision‑language planning benchmarks favor linguistic next‑token prediction over physically grounded next‑state reasoning, leading models to rely on language priors rather than true causal dependencies. To address this, the authors introduce Causal‑Plan‑Bench, a diagnostic suite covering four causal dimensions, and Causal‑Plan‑1M, a million‑scale corpus of explicit causal reasoning traces extracted from egocentric videos. Extensive experiments show that existing models perform poorly on these tasks, while a new model trained with a tailored recipe—Causal Planner based on Qwen3‑VL‑8B—achieves significant gains, demonstrating the feasibility of physically grounded causal reasoning.

By Zheng Lu, Mingqi Gao, Qinlei Xie, Wanqi Zhong, Hanwen Cui, Zirui Song, Lijie Wang, Chong Luo, Bei Liu, Yiming Li
llmsagentsroboticsmultimodalbenchmarks
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arXiv Computer Vision
Aug 27

Zero-WAM: In-Context World-Action Modeling from Human Videos for Open-Ended Task Generalization

Zero-WAM introduces a causal video-action model that enables robots to perform unseen manipulation tasks by following in-context human video guidance. The authors create HumanGen, a dataset of 74.2K human-robot ICL pairs across 8.6K tasks, and propose an in-context future chunk prediction objective to prevent shortcut learning. In simulation, Zero-WAM attains a 47.0% success rate on seven unseen tasks, outperforming the best video-action baseline by 29.5 percentage points, and demonstrates real‑world generalization to complex, long‑horizon, and fine‑grained tasks.

By Jiaming Zhou, Qihang Zhang, Gangwei Xu, Cunxin Fan, Yujie Zhao, Ruilin Wang, Yiming Luo, Shuai Yang, Xing Zhu, Yujun Shen, Junwei Liang, Yinghao Xu
llmsrobotics
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