Action Images: End-to-End Policy Learning via Multiview Video Generation

World action models (WAMs) have emerged as a promising direction for robot policy learning, as they can leverage powerful video backbones to model the future states. However, existing approaches often rely on separate action modules, or use action representations that are not pixel-grounded, making it difficult to fully exploit the pretrained knowledge of video models and limiting transfer across viewpoints and environments. In this work, we present Action Images, a unified world action model that formulates policy learning as multiview video generation. Instead of encoding control as low-dimensional tokens, we translate 7-DoF robot actions into interpretable action images: multi-view action videos that are grounded in 2D pixels and explicitly track robot-arm motion. This pixel-grounded action representation allows the video backbone itself to act as a zero-shot policy, without a separate policy head or action module. Beyond control, the same unified model supports video-action joint generation, action-conditioned video generation, and action labeling under a shared representation. On RLBench and real-world evaluations, our model achieves the strongest zero-shot success rates and improves video-action joint generation quality over prior video-space world models, suggesting that interpretable action images are a promising route to policy learning.

Mitigating Object Hallucination via Robust Local Perception Search

Recent advancements in Multimodal Large Language Models (MLLMs) have enabled them to effectively integrate vision and language, addressing a variety of downstream tasks. However, despite their significant success, these models still exhibit hallucination phenomena, where the outputs appear plausible but do not align with the content of the images. To mitigate this issue, we introduce Local Perception Search (LPS), a decoding method during inference that is both simple and training-free, yet effectively suppresses hallucinations. This method leverages local visual prior information as a value function to correct the decoding process. Additionally, we observe that the impact of the local visual prior on model performance is more pronounced in scenarios with high levels of image noise. Notably, LPS is a plug-and-play approach that is compatible with various models. Extensive experiments on widely used hallucination benchmarks and noisy data demonstrate that LPS significantly reduces the incidence of hallucinations compared to the baseline, showing exceptional performance, particularly in noisy settings.