# Grounding Generated Videos in Feasible Plans via World Models

arXiv: https://arxiv.org/abs/2602.01960 · HTML: https://mlsanity.com/paper/2602.01960/

## Key facts

- Cited by 3 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 48 of its 55 references that are in the map.
- First posted on arXiv 2 Feb 2026.

## Placed in

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

## Builds on (most cited first, 30 of 48)

- [High-Resolution Image Synthesis with Latent Diffusion Models](https://mlsanity.com/paper/2112.10752/) (2021)
- [DINOv2: Learning Robust Visual Features without Supervision](https://mlsanity.com/paper/2304.07193/) (2023)
- [Soft Actor-Critic: Off-Policy Maximum Entropy Deep Reinforcement Learning with a Stochastic Actor](https://mlsanity.com/paper/1801.01290/) (2018)
- [Bootstrap your own latent: A new approach to self-supervised Learning](https://mlsanity.com/paper/2006.07733/) (2020)
- [Diffusion Policy: Visuomotor Policy Learning via Action Diffusion](https://mlsanity.com/paper/2303.04137/) (2023)
- [Stable Video Diffusion: Scaling Latent Video Diffusion Models to Large Datasets](https://mlsanity.com/paper/2311.15127/) (2023)
- [Video Diffusion Models](https://mlsanity.com/paper/2204.03458/) (2022)
- [VBench: Comprehensive Benchmark Suite for Video Generative Models](https://mlsanity.com/paper/2311.17982/) (2023)
- [Dream to Control: Learning Behaviors by Latent Imagination](https://mlsanity.com/paper/1912.01603/) (2019)
- [World Models](https://mlsanity.com/paper/1803.10122/) (2018)
- [Learning Latent Dynamics for Planning from Pixels](https://mlsanity.com/paper/1811.04551/) (2018)
- [Mastering Diverse Domains through World Models](https://mlsanity.com/paper/2301.04104/) (2023)
- [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)
- [Genie: Generative Interactive Environments](https://mlsanity.com/paper/2402.15391/) (2024)
- [Animate Anyone: Consistent and Controllable Image-to-Video Synthesis for Character Animation](https://mlsanity.com/paper/2311.17117/) (2023)
- [Diffusion Forcing: Next-token Prediction Meets Full-Sequence Diffusion](https://mlsanity.com/paper/2407.01392/) (2024)
- [GAIA-1: A Generative World Model for Autonomous Driving](https://mlsanity.com/paper/2309.17080/) (2023)
- [Learning Universal Policies via Text-Guided Video Generation](https://mlsanity.com/paper/2302.00111/) (2023)
- [DINO-WM: World Models on Pre-trained Visual Features enable Zero-shot Planning](https://mlsanity.com/paper/2411.04983/) (2024)
- [PhysDiff: Physics-Guided Human Motion Diffusion Model](https://mlsanity.com/paper/2212.02500/) (2022)
- [Video PreTraining (VPT): Learning to Act by Watching Unlabeled Online Videos](https://mlsanity.com/paper/2206.11795/) (2022)
- [Reconstructing Hands in 3D with Transformers](https://mlsanity.com/paper/2312.05251/) (2023)
- [UniSim: A Neural Closed-Loop Sensor Simulator](https://mlsanity.com/paper/2308.01898/) (2023)
- [Deep Visual Foresight for Planning Robot Motion](https://mlsanity.com/paper/1610.00696/) (2016)
- [Navigation World Models](https://mlsanity.com/paper/2412.03572/) (2024)
- [Zero-Shot Robotic Manipulation with Pretrained Image-Editing Diffusion Models](https://mlsanity.com/paper/2310.10639/) (2023)
- [VideoPhy: Evaluating Physical Commonsense for Video Generation](https://mlsanity.com/paper/2406.03520/) (2024)
- [MegaSaM: Accurate, Fast, and Robust Structure and Motion from Casual Dynamic Videos](https://mlsanity.com/paper/2412.04463/) (2024)
- [Video models are zero-shot learners and reasoners](https://mlsanity.com/paper/2509.20328/) (2025)

## Built on by (most cited first, 3 of 3)

- [FF-JEPA: Long-Horizon Planning in World Models with Latent Planners](https://mlsanity.com/paper/2606.09311/) (2026)
- [Parallel Predictive World Models for Accurate and Efficient Long-Horizon Planning](https://mlsanity.com/paper/2610.08627/) (2026)
- [CASTER: Formalizing Zero-Shot Manipulation from Synthetic Videos as Constrained Optimization](https://mlsanity.com/paper/2610.12567/) (2026)

## Abstract (arXiv)

Large-scale video generative models have shown emerging capabilities as zero-shot visual planners, yet video-generated plans often violate temporal consistency and physical constraints, leading to failures when mapped to executable actions. To address this, we propose Grounding Video Plans with World Models (GVP-WM), a planning method that grounds video-generated plans into feasible action sequences using a learned action-conditioned world model. At test-time, GVP-WM first generates a video plan from initial and goal observations, then projects the video guidance onto the manifold of dynamically feasible latent trajectories via video-guided latent collocation. In particular, we formulate grounding as a goal-conditioned latent-space trajectory optimization problem that jointly optimizes latent states and actions under world-model dynamics, while preserving semantic alignment with the video-generated plan. Empirically, GVP-WM recovers feasible long-horizon plans from zero-shot image-to-video-generated and motion-blurred videos that violate physical constraints, across navigation and manipulation simulation tasks.