# Pandora: Towards General World Model with Natural Language Actions and Video States

arXiv: https://arxiv.org/abs/2406.09455 · HTML: https://mlsanity.com/paper/2406.09455/

## Key facts

- Cited by 86 papers in the map (data through 14 Oct 2026).
- Placed in Video-generation world models and simulators, one of 11 directions in World models.
- Builds on 69 of its 81 references that are in the map.
- First posted on arXiv 12 Jun 2024.

## Placed in

- World models / [Video-generation world models and simulators](https://mlsanity.com/wm/video-generation-world-models-and-simulators/)

## Builds on (most cited first, 30 of 69)

- [Denoising Diffusion Probabilistic Models](https://mlsanity.com/paper/2006.11239/) (2020)
- [High-Resolution Image Synthesis with Latent Diffusion Models](https://mlsanity.com/paper/2112.10752/) (2021)
- [GPT-4 Technical Report](https://mlsanity.com/paper/2303.08774/) (2023)
- [LLaMA: Open and Efficient Foundation Language Models](https://mlsanity.com/paper/2302.13971/) (2023)
- [Llama 2: Open Foundation and Fine-Tuned Chat Models](https://mlsanity.com/paper/2307.09288/) (2023)
- [Score-Based Generative Modeling through Stochastic Differential Equations](https://mlsanity.com/paper/2011.13456/) (2020)
- [Deep Unsupervised Learning using Nonequilibrium Thermodynamics](https://mlsanity.com/paper/1503.03585/) (2015)
- [BLIP-2: Bootstrapping Language-Image Pre-training with Frozen Image Encoders and Large Language Models](https://mlsanity.com/paper/2301.12597/) (2023)
- [Scalable Diffusion Models with Transformers](https://mlsanity.com/paper/2212.09748/) (2022)
- [Finetuned Language Models Are Zero-Shot Learners](https://mlsanity.com/paper/2109.01652/) (2021)
- [Stable Video Diffusion: Scaling Latent Video Diffusion Models to Large Datasets](https://mlsanity.com/paper/2311.15127/) (2023)
- [CARLA: An Open Urban Driving Simulator](https://mlsanity.com/paper/1711.03938/) (2017)
- [Video Diffusion Models](https://mlsanity.com/paper/2204.03458/) (2022)
- [Mixtral of Experts](https://mlsanity.com/paper/2401.04088/) (2024)
- [Imagen Video: High Definition Video Generation with Diffusion Models](https://mlsanity.com/paper/2210.02303/) (2022)
- [Make-A-Video: Text-to-Video Generation without Text-Video Data](https://mlsanity.com/paper/2209.14792/) (2022)
- [Dream to Control: Learning Behaviors by Latent Imagination](https://mlsanity.com/paper/1912.01603/) (2019)
- [World Models](https://mlsanity.com/paper/1803.10122/) (2018)
- [Matterport3D: Learning from RGB-D Data in Indoor Environments](https://mlsanity.com/paper/1709.06158/) (2017)
- [Habitat: A Platform for Embodied AI Research](https://mlsanity.com/paper/1904.01201/) (2019)
- [Frozen in Time: A Joint Video and Image Encoder for End-to-End Retrieval](https://mlsanity.com/paper/2104.00650/) (2021)
- [The "something something" video database for learning and evaluating visual common sense](https://mlsanity.com/paper/1706.04261/) (2017)
- [Reasoning with Language Model is Planning with World Model](https://mlsanity.com/paper/2305.14992/) (2023)
- [Scaling Egocentric Vision: The EPIC-KITCHENS Dataset](https://mlsanity.com/paper/1804.02748/) (2018)
- [Recurrent World Models Facilitate Policy Evolution](https://mlsanity.com/paper/1809.01999/) (2018)
- [Genie: Generative Interactive Environments](https://mlsanity.com/paper/2402.15391/) (2024)
- [Text2Video-Zero: Text-to-Image Diffusion Models are Zero-Shot Video Generators](https://mlsanity.com/paper/2303.13439/) (2023)
- [GAIA-1: A Generative World Model for Autonomous Driving](https://mlsanity.com/paper/2309.17080/) (2023)
- [Structure and Content-Guided Video Synthesis with Diffusion Models](https://mlsanity.com/paper/2302.03011/) (2023)
- [Habitat 2.0: Training Home Assistants to Rearrange their Habitat](https://mlsanity.com/paper/2106.14405/) (2021)

## Built on by (most cited first, 30 of 86)

- [GR00T N1: An Open Foundation Model for Generalist Humanoid Robots](https://mlsanity.com/paper/2503.14734/) (2025)
- [CoT-VLA: Visual Chain-of-Thought Reasoning for Vision-Language-Action Models](https://mlsanity.com/paper/2503.22020/) (2025)
- [EmbodiedBench: Comprehensive Benchmarking Multi-modal Large Language Models for Vision-Driven Embodied Agents](https://mlsanity.com/paper/2502.09560/) (2025)
- [Aligning Cyber Space with Physical World: A Comprehensive Survey on Embodied AI](https://mlsanity.com/paper/2407.06886/) (2024)
- [DreamGen: Unlocking Generalization in Robot Learning through Video World Models](https://mlsanity.com/paper/2505.12705/) (2025)
- [Towards World Simulator: Crafting Physical Commonsense-Based Benchmark for Video Generation](https://mlsanity.com/paper/2410.05363/) (2024)
- [Understanding World or Predicting Future? A Comprehensive Survey of World Models](https://mlsanity.com/paper/2411.14499/) (2024)
- [WorldScore: A Unified Evaluation Benchmark for World Generation](https://mlsanity.com/paper/2504.00983/) (2025)
- [GigaWorld-Policy: An Efficient Action-Centered World--Action Model](https://mlsanity.com/paper/2603.17240/) (2026)
- [GameGen-X: Interactive Open-world Game Video Generation](https://mlsanity.com/paper/2411.00769/) (2024)
- [WorldModelBench: Judging Video Generation Models As World Models](https://mlsanity.com/paper/2502.20694/) (2025)
- [DriveDreamer4D: World Models Are Effective Data Machines for 4D Driving Scene Representation](https://mlsanity.com/paper/2410.13571/) (2024)
- [AdaWorld: Learning Adaptable World Models with Latent Actions](https://mlsanity.com/paper/2503.18938/) (2025)
- [DrivingGPT: Unifying Driving World Modeling and Planning with Multi-modal Autoregressive Transformers](https://mlsanity.com/paper/2412.18607/) (2024)
- [TesserAct: Learning 4D Embodied World Models](https://mlsanity.com/paper/2504.20995/) (2025)
- [WISA: World Simulator Assistant for Physics-Aware Text-to-Video Generation](https://mlsanity.com/paper/2503.08153/) (2025)
- [ReconDreamer: Crafting World Models for Driving Scene Reconstruction via Online Restoration](https://mlsanity.com/paper/2411.19548/) (2024)
- [The Matrix: Infinite-Horizon World Generation with Real-Time Moving Control](https://mlsanity.com/paper/2412.03568/) (2024)
- [GEM: A Generalizable Ego-Vision Multimodal World Model for Fine-Grained Ego-Motion, Object Dynamics, and Scene Composition Control](https://mlsanity.com/paper/2412.11198/) (2024)
- [A Comprehensive Survey on World Models for Embodied AI](https://mlsanity.com/paper/2510.16732/) (2025)
- [Long-Context State-Space Video World Models](https://mlsanity.com/paper/2505.20171/) (2025)
- [VLIPP: Towards Physically Plausible Video Generation with Vision and Language Informed Physical Prior](https://mlsanity.com/paper/2503.23368/) (2025)
- [Pre-Trained Video Generative Models as World Simulators](https://mlsanity.com/paper/2502.07825/) (2025)
- [Autoregressive Models in Vision: A Survey](https://mlsanity.com/paper/2411.05902/) (2024)
- [AVID: Adapting Video Diffusion Models to World Models](https://mlsanity.com/paper/2410.12822/) (2024)
- [Multi-Task Interactive Robot Fleet Learning with Visual World Models](https://mlsanity.com/paper/2410.22689/) (2024)
- [Learning Action and Reasoning-Centric Image Editing from Videos and Simulations](https://mlsanity.com/paper/2407.03471/) (2024)
- [The Dawn of Video Generation: Preliminary Explorations with SORA-like Models](https://mlsanity.com/paper/2410.05227/) (2024)
- [Is Your World Simulator a Good Story Presenter? A Consecutive Events-Based Benchmark for Future Long Video Generation](https://mlsanity.com/paper/2412.16211/) (2024)
- [SlowFast-VGen: Slow-Fast Learning for Action-Driven Long Video Generation](https://mlsanity.com/paper/2410.23277/) (2024)

## Abstract (arXiv)

World models simulate future states of the world in response to different actions. They facilitate interactive content creation and provides a foundation for grounded, long-horizon reasoning. Current foundation models do not fully meet the capabilities of general world models: large language models (LLMs) are constrained by their reliance on language modality and their limited understanding of the physical world, while video models lack interactive action control over the world simulations. This paper makes a step towards building a general world model by introducing Pandora, a hybrid autoregressive-diffusion model that simulates world states by generating videos and allows real-time control with free-text actions. Pandora achieves domain generality, video consistency, and controllability through large-scale pretraining and instruction tuning. Crucially, Pandora bypasses the cost of training-from-scratch by integrating a pretrained LLM (7B) and a pretrained video model, requiring only additional lightweight finetuning. We illustrate extensive outputs by Pandora across diverse domains (indoor/outdoor, natural/urban, human/robot, 2D/3D, etc.). The results indicate great potential of building stronger general world models with larger-scale training.