# Large Video Planner Enables Generalizable Robot Control

arXiv: https://arxiv.org/abs/2512.15840 · HTML: https://mlsanity.com/paper/2512.15840/

## Key facts

- Cited by 70 papers in the map (data through 14 Oct 2026).
- Builds on 70 of its 82 references that are in the map.
- First posted on arXiv 17 Dec 2025.

## Builds on (most cited first, 30 of 70)

- [Denoising Diffusion Probabilistic Models](https://mlsanity.com/paper/2006.11239/) (2020)
- [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)
- [Visual Instruction Tuning](https://mlsanity.com/paper/2304.08485/) (2023)
- [Deep Unsupervised Learning using Nonequilibrium Thermodynamics](https://mlsanity.com/paper/1503.03585/) (2015)
- [Scalable Diffusion Models with Transformers](https://mlsanity.com/paper/2212.09748/) (2022)
- [Classifier-Free Diffusion Guidance](https://mlsanity.com/paper/2207.12598/) (2022)
- [Flow Matching for Generative Modeling](https://mlsanity.com/paper/2210.02747/) (2022)
- [Qwen2.5-VL Technical Report](https://mlsanity.com/paper/2502.13923/) (2025)
- [Scaling Rectified Flow Transformers for High-Resolution Image Synthesis](https://mlsanity.com/paper/2403.03206/) (2024)
- [LAION-5B: An open large-scale dataset for training next generation image-text models](https://mlsanity.com/paper/2210.08402/) (2022)
- [Gemini 2.5: Pushing the Frontier with Advanced Reasoning, Multimodality, Long Context, and Next Generation Agentic Capabilities](https://mlsanity.com/paper/2507.06261/) (2025)
- [Qwen Technical Report](https://mlsanity.com/paper/2309.16609/) (2023)
- [RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Control](https://mlsanity.com/paper/2307.15818/) (2023)
- [Wan: Open and Advanced Large-Scale Video Generative Models](https://mlsanity.com/paper/2503.20314/) (2025)
- [Stable Video Diffusion: Scaling Latent Video Diffusion Models to Large Datasets](https://mlsanity.com/paper/2311.15127/) (2023)
- [π0: A Vision-Language-Action Flow Model for General Robot Control](https://mlsanity.com/paper/2410.24164/) (2024)
- [RT-1: Robotics Transformer for Real-World Control at Scale](https://mlsanity.com/paper/2212.06817/) (2022)
- [Imagen Video: High Definition Video Generation with Diffusion Models](https://mlsanity.com/paper/2210.02303/) (2022)
- [HunyuanVideo: A Systematic Framework For Large Video Generative Models](https://mlsanity.com/paper/2412.03603/) (2024)
- [Ego4D: Around the World in 3,000 Hours of Egocentric Video](https://mlsanity.com/paper/2110.07058/) (2021)
- [GR00T N1: An Open Foundation Model for Generalist Humanoid Robots](https://mlsanity.com/paper/2503.14734/) (2025)
- [The FineWeb Datasets: Decanting the Web for the Finest Text Data at Scale](https://mlsanity.com/paper/2406.17557/) (2024)
- [The "something something" video database for learning and evaluating visual common sense](https://mlsanity.com/paper/1706.04261/) (2017)
- [One-step Diffusion with Distribution Matching Distillation](https://mlsanity.com/paper/2311.18828/) (2023)
- [Chameleon: Mixed-Modal Early-Fusion Foundation Models](https://mlsanity.com/paper/2405.09818/) (2024)
- [WorldSimBench: Towards Video Generation Models as World Simulators](https://mlsanity.com/paper/2410.18072/) (2024)
- [Cosmos World Foundation Model Platform for Physical AI](https://mlsanity.com/paper/2501.03575/) (2025)
- [DROID: A Large-Scale In-The-Wild Robot Manipulation Dataset](https://mlsanity.com/paper/2403.12945/) (2024)
- [VoxPoser: Composable 3D Value Maps for Robotic Manipulation with Language Models](https://mlsanity.com/paper/2307.05973/) (2023)

## Built on by (most cited first, 30 of 70)

- [World Action Models are Zero-shot Policies](https://mlsanity.com/paper/2602.15922/) (2026)
- [DreamDojo: A Generalist Robot World Model from Large-Scale Human Videos](https://mlsanity.com/paper/2602.06949/) (2026)
- [StarVLA: A Lego-like Codebase for Vision-Language-Action Model Developing](https://mlsanity.com/paper/2604.05014/) (2026)
- [World Action Models: The Next Frontier in Embodied AI](https://mlsanity.com/paper/2605.12090/) (2026)
- [World Model for Robot Learning: A Comprehensive Survey](https://mlsanity.com/paper/2605.00080/) (2026)
- [DSpark: Confidence-Scheduled Speculative Decoding with Semi-Autoregressive Generation](https://mlsanity.com/paper/2607.05147/) (2026)
- [ImageWAM: Do World Action Models Really Need Video Generation, or Just Image Editing?](https://mlsanity.com/paper/2606.19531/) (2026)
- [Interactive World Simulator for Robot Policy Training and Evaluation](https://mlsanity.com/paper/2603.08546/) (2026)
- [EgoWAM: World Action Models Beyond Pixels with In-the-Wild Egocentric Human Data](https://mlsanity.com/paper/2607.08436/) (2026)
- [RoboWM-Bench: A Benchmark for Evaluating World Models in Robotic Manipulation](https://mlsanity.com/paper/2604.19092/) (2026)
- [Omni-WorldBench: Towards a Comprehensive Interaction-Centric Evaluation for World Models](https://mlsanity.com/paper/2603.22212/) (2026)
- [World Action Verifier: Self-Improving World Models via Forward-Inverse Asymmetry](https://mlsanity.com/paper/2604.01985/) (2026)
- [S-VAM: Shortcut Video-Action Model by Self-Distilling Geometric and Semantic Foresight](https://mlsanity.com/paper/2603.16195/) (2026)
- [Self-Refining Video Sampling](https://mlsanity.com/paper/2601.18577/) (2026)
- [SimToolReal: An Object-Centric Policy for Zero-Shot Dexterous Tool Manipulation](https://mlsanity.com/paper/2602.16863/) (2026)
- [Dex4D: Task-Agnostic Point Track Policy for Zero-Shot Dexterous Manipulation](https://mlsanity.com/paper/2602.15828/) (2026)
- [EVA: Aligning Video World Models with Executable Robot Actions via Inverse Dynamics Rewards](https://mlsanity.com/paper/2603.17808/) (2026)
- [WorldVLN: Autoregressive World Action Model for Aerial Vision-Language Navigation](https://mlsanity.com/paper/2605.15964/) (2026)
- [Qwen-RobotWorld Technical Report: Unifying Embodied World Modeling through Language-Conditioned Video Generation](https://mlsanity.com/paper/2606.17030/) (2026)
- [Robotic Video World Models: A Survey of Applications, Research Challenges, Future Directions](https://mlsanity.com/paper/2601.07823/) (2026)
- [Turning Video Models into Generalist Robot Policies](https://mlsanity.com/paper/2605.27817/) (2026)
- [World Action Models: A Survey](https://mlsanity.com/paper/2606.20781/) (2026)
- [Dexterous Manipulation Policies from RGB Human Videos via 3D Hand-Object Trajectory Reconstruction](https://mlsanity.com/paper/2602.09013/) (2026)
- [PhysisForcing: Physics Reinforced World Simulator for Robotic Manipulation](https://mlsanity.com/paper/2606.28128/) (2026)
- [NavDreamer: Video Models as Zero-Shot 3D Navigators](https://mlsanity.com/paper/2602.09765/) (2026)
- [UNIVERSE: Unified Video Action Models for Autonomous Driving with Flexible Mask-Modulated Modality Generation](https://mlsanity.com/paper/2607.05133/) (2026)
- [GEM-4D: Geometry-Enhanced Video World Models for Robot Manipulation](https://mlsanity.com/paper/2605.22882/) (2026)
- [Mem-World: Memory-Augmented Action-Conditioned World Models for Persistent Robot Manipulation](https://mlsanity.com/paper/2606.18960/) (2026)
- [RoboTrustBench: Benchmarking the Trustworthiness of Video World Models for Robotic Manipulation](https://mlsanity.com/paper/2606.01600/) (2026)
- [World Action Planner: Generalizable Decision-Making with Action-Conditioned World Models](https://mlsanity.com/paper/2607.27599/) (2026)

## Abstract (arXiv)

General-purpose robots require decision-making models that generalize across diverse tasks and environments. Recent works build robot foundation models by extending multimodal large language models (MLLMs) with action outputs, creating vision-language-action (VLA) systems. These efforts are motivated by the intuition that MLLMs' large-scale language and image pretraining can be effectively transferred to the action output modality. In this work, we explore an alternative paradigm of using large-scale video pretraining as a primary modality for building robot foundation models. Unlike static images and language, videos capture spatio-temporal sequences of states and actions in the physical world that are naturally aligned with robotic behavior. We curate an internet-scale video dataset of human activities and task demonstrations, and train, for the first time at a foundation-model scale, an open video model for generative robotics planning. The model produces zero-shot video plans for novel scenes and tasks, which we post-process to extract executable robot actions. We evaluate task-level generalization through third-party selected tasks in the wild and real-robot experiments, demonstrating successful physical execution. Together, these results show robust instruction following, strong generalization, and real-world feasibility. We release both the model and dataset to support open, reproducible video-based robot learning. Our website is available at https://www.boyuan.space/large-video-planner/.