Dream4ACT: A Shared Visual Action Interface for Multi-Embodiment Video-Action Modeling
Dream4ACT introduces a world model for video-action modeling across different robot bodies by creating 'action views.' These are fixed-shape images of target joint configurations derived from URDF kinematics, allowing diverse embodiments to share a common visual interface. The model uses instruction grounding and a joint diffusion transformer to predict actions, achieving high success rates in closed-loop manipulation and multi-embodiment tasks.