# Any4D: Open-Prompt 4D Generation from Natural Language and Images

arXiv: https://arxiv.org/abs/2511.18746 · HTML: https://mlsanity.com/paper/2511.18746/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Placed in Embodied and robot world models, one of 11 directions in World models.
- Builds on 0 of its 89 references that are in the map.
- First posted on arXiv 24 Nov 2025.

## Placed in

- World models / [Embodied and robot world models](https://mlsanity.com/wm/embodied-and-robot-world-models/)

## Abstract (arXiv)

While video-generation-based embodied world models have gained increasing attention, their reliance on large-scale embodied interaction data remains a key bottleneck. The scarcity, difficulty of collection, and high dimensionality of embodied data fundamentally limit the alignment granularity between language and actions and exacerbate the challenge of long-horizon video generation--hindering generative models from achieving a textit"GPT moment" in the embodied domain. There is a naive observation: textitthe diversity of embodied data far exceeds the relatively small space of possible primitive motions. Based on this insight, we propose Primitive Embodied World Models (PEWM), which restricts video generation to fixed shorter horizons, our approach textit1) enables fine-grained alignment between linguistic concepts and visual representations of robotic actions, textit2) reduces learning complexity, textit3) improves data efficiency in embodied data collection, and textit4) decreases inference latency. By equipping with a modular Vision-Language Model (VLM) planner and a Start-Goal heatmap Guidance mechanism (SGG), PEWM further enables flexible closed-loop control and supports compositional generalization of primitive-level policies over extended, complex tasks. Our framework leverages the spatiotemporal vision priors in video models and the semantic awareness of VLMs to bridge the gap between fine-grained physical interaction and high-level reasoning, paving the way toward scalable, interpretable, and general-purpose embodied intelligence.