UNITAS: A 3D-Native World Action Model for Embodied Manipulation
UNITAS is a novel 3D-native world action model that unifies observations, actions, and scene dynamics within a shared metric 3D frame for robots and humans. It represents movement as 3D point trajectories (action flow) and environmental response as scene flow. This unified representation allows the model to perform direct action execution and predict scene changes conditioned on those actions, showing strong performance in manipulation tasks.