Act2Goal: From World Model To General Goal-conditioned Policy

📝 Original Info

• Title: Act2Goal: From World Model To General Goal-conditioned Policy
• ArXiv ID: 2512.23541
• Date: 2025-12-29
• Authors: Pengfei Zhou, Liliang Chen, Shengcong Chen, Di Chen, Wenzhi Zhao, Rongjun Jin, Guanghui Ren, Jianlan Luo

📝 Abstract

Specifying robotic manipulation tasks in a manner that is both expressive and precise remains a central challenge. While visual goals provide a compact and unambiguous task specification, existing goal-conditioned policies often struggle with long-horizon manipulation due to their reliance on single-step action prediction without explicit modeling of task progress. We propose Act2Goal, a general goal-conditioned manipulation policy that integrates a goal-conditioned visual world model with multi-scale temporal control. Given a current observation and a target visual goal, the world model generates a plausible sequence of intermediate visual states that captures long-horizon structure. To translate this visual plan into robust execution, we introduce Multi-Scale Temporal Hashing (MSTH), which decomposes the imagined trajectory into dense proximal frames for fine-grained closed-loop control and sparse distal frames that anchor global task consistency. The policy couples these representations with motor control through end-to-end crossattention, enabling coherent long-horizon behavior while remaining reactive to local disturbances. Act2Goal achieves strong zeroshot generalization to novel o...

📄 Full Content

...(본문 내용이 길어 생략되었습니다. 사이트에서 전문을 확인해 주세요.)