# LongScape: Advancing Long-Horizon Embodied World Models with Context-Aware MoE

arXiv: https://arxiv.org/abs/2509.21790 · HTML: https://mlsanity.com/paper/2509.21790/

## Key facts

- Cited by 7 papers in the map (data through 14 Oct 2026).
- Placed in Embodied and robot world models, one of 11 directions in World models.
- Builds on 23 of its 27 references that are in the map.
- First posted on arXiv 26 Sep 2025.

## Placed in

- World models / [Embodied and robot world models](https://mlsanity.com/wm/embodied-and-robot-world-models/)
- Mixture-of-experts / [MoE in reinforcement learning and robotics](https://mlsanity.com/moe/moe-in-reinforcement-learning-and-robotics/)

## Builds on (most cited first, 23 of 23)

- [U-Net: Convolutional Networks for Biomedical Image Segmentation](https://mlsanity.com/paper/1505.04597/) (2015)
- [Scalable Diffusion Models with Transformers](https://mlsanity.com/paper/2212.09748/) (2022)
- [Wan: Open and Advanced Large-Scale Video Generative Models](https://mlsanity.com/paper/2503.20314/) (2025)
- [Video Diffusion Models](https://mlsanity.com/paper/2204.03458/) (2022)
- [CogVideoX: Text-to-Video Diffusion Models with An Expert Transformer](https://mlsanity.com/paper/2408.06072/) (2024)
- [HunyuanVideo: A Systematic Framework For Large Video Generative Models](https://mlsanity.com/paper/2412.03603/) (2024)
- [LIBERO: Benchmarking Knowledge Transfer for Lifelong Robot Learning](https://mlsanity.com/paper/2306.03310/) (2023)
- [Cosmos World Foundation Model Platform for Physical AI](https://mlsanity.com/paper/2501.03575/) (2025)
- [V-JEPA 2: Self-Supervised Video Models Enable Understanding, Prediction and Planning](https://mlsanity.com/paper/2506.09985/) (2025)
- [Genie: Generative Interactive Environments](https://mlsanity.com/paper/2402.15391/) (2024)
- [AgiBot World Colosseo: A Large-scale Manipulation Platform for Scalable and Intelligent Embodied Systems](https://mlsanity.com/paper/2503.06669/) (2025)
- [MAGI-1: Autoregressive Video Generation at Scale](https://mlsanity.com/paper/2505.13211/) (2025)
- [Autoregressive Video Generation without Vector Quantization](https://mlsanity.com/paper/2412.14169/) (2024)
- [Understanding World or Predicting Future? A Comprehensive Survey of World Models](https://mlsanity.com/paper/2411.14499/) (2024)
- [iVideoGPT: Interactive VideoGPTs are Scalable World Models](https://mlsanity.com/paper/2405.15223/) (2024)
- [Genie Envisioner: A Unified World Foundation Platform for Robotic Manipulation](https://mlsanity.com/paper/2508.05635/) (2025)
- [Aether: Geometric-Aware Unified World Modeling](https://mlsanity.com/paper/2503.18945/) (2025)
- [TesserAct: Learning 4D Embodied World Models](https://mlsanity.com/paper/2504.20995/) (2025)
- [EnerVerse: Envisioning Embodied Future Space for Robotics Manipulation](https://mlsanity.com/paper/2501.01895/) (2025)
- [Back to the Features: DINO as a Foundation for Video World Models](https://mlsanity.com/paper/2507.19468/) (2025)
- [EnerVerse-AC: Envisioning Embodied Environments with Action Condition](https://mlsanity.com/paper/2505.09723/) (2025)
- [RoboScape: Physics-informed Embodied World Model](https://mlsanity.com/paper/2506.23135/) (2025)
- [Video-GPT via Next Clip Diffusion](https://mlsanity.com/paper/2505.12489/) (2025)

## Built on by (most cited first, 7 of 7)

- [RAE-NWM: Navigation World Model in Dense Visual Representation Space](https://mlsanity.com/paper/2603.09241/) (2026)
- [RoboScape-R: Unified Reward-Observation World Models for Generalizable Robotics Training via RL](https://mlsanity.com/paper/2512.03556/) (2025)
- [EgoCS-400K: An Egocentric Gameplay Dataset for World Models](https://mlsanity.com/paper/2606.18180/) (2026)
- [World-Ego Modeling for Long-Horizon Evolution in Hybrid Embodied Tasks](https://mlsanity.com/paper/2605.19957/) (2026)
- [DVG-WM: Disentangled Video Generation Enables Efficient Embodied World Model for Robotic Manipulation](https://mlsanity.com/paper/2606.32028/) (2026)
- [ICAT: Incident-Case-Grounded Adaptive Testing for Physical-Risk Prediction in Embodied World Models](https://mlsanity.com/paper/2604.16405/) (2026)
- [Toward Unified Robot Learning: Bridging Representation, Vision-Language-Action, and World Models](https://mlsanity.com/paper/2609.03927/) (2026)

## Abstract (arXiv)

Video-based world models hold significant potential for generating high-quality embodied manipulation data. However, current video generation methods struggle to achieve stable long-horizon generation: classical diffusion-based approaches often suffer from temporal inconsistency and visual drift over multiple rollouts, while autoregressive methods tend to compromise on visual detail. To solve this, we introduce LongScape, a hybrid framework that adaptively combines intra-chunk diffusion denoising with inter-chunk autoregressive causal generation. Our core innovation is an action-guided, variable-length chunking mechanism that partitions video based on the semantic context of robotic actions. This ensures each chunk represents a complete, coherent action, enabling the model to flexibly generate diverse dynamics. We further introduce a Context-aware Mixture-of-Experts (CMoE) framework that adaptively activates specialized experts for each chunk during generation, guaranteeing high visual quality and seamless chunk transitions. Extensive experimental results demonstrate that our method achieves stable and consistent long-horizon generation over extended rollouts. Our code is available at: https://github.com/tsinghua-fib-lab/Longscape.