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4DGS-WAM: Bridging Past and Future with an Object-Centric World Action Model based on 4D Gaussian Splatting

arXiv · AI, language, vision and robotics · article · Aug 26, 2026 · UTC

Current world action models (WAMs) typically operate on 2D visual data. These models can achieve exceptional visual quality, but they lack explicit spatial structure for individual objects and repeatedly process redundant background content. Although point clouds can represent the world in 3D space, they can be difficult to align and accumulate across viewpoints. In this paper, we leverage an explicit 4D Gaussian Splatting (4DGS) representation that separately models dynamic objects and the static background of a scene. For dynamic objects, we use a policy model to predict future actor actions

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