# Scaling Mixture-of-Experts Video Pretraining for Embodied Intelligence

arXiv: https://arxiv.org/abs/2607.07675 · HTML: https://mlsanity.com/paper/2607.07675/

## Key facts

- Cited by 15 papers in the map (data through 14 Oct 2026).
- Placed in MoE in reinforcement learning and robotics, one of 12 directions in Mixture-of-experts.
- Builds on 58 of its 130 references that are in the map.
- First posted on arXiv 8 Jul 2026.

## Placed in

- Mixture-of-experts / [MoE in reinforcement learning and robotics](https://mlsanity.com/moe/moe-in-reinforcement-learning-and-robotics/)

## Builds on (most cited first, 30 of 58)

- [GPT-4 Technical Report](https://mlsanity.com/paper/2303.08774/) (2023)
- [Proximal Policy Optimization Algorithms](https://mlsanity.com/paper/1707.06347/) (2017)
- [LLaMA: Open and Efficient Foundation Language Models](https://mlsanity.com/paper/2302.13971/) (2023)
- [DeepSeekMath: Pushing the Limits of Mathematical Reasoning in Open Language Models](https://mlsanity.com/paper/2402.03300/) (2024)
- [Scaling Laws for Neural Language Models](https://mlsanity.com/paper/2001.08361/) (2020)
- [Qwen Technical Report](https://mlsanity.com/paper/2309.16609/) (2023)
- [Qwen3-VL Technical Report](https://mlsanity.com/paper/2511.21631/) (2025)
- [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)
- [Megatron-LM: Training Multi-Billion Parameter Language Models Using Model Parallelism](https://mlsanity.com/paper/1909.08053/) (2019)
- [GLU Variants Improve Transformer](https://mlsanity.com/paper/2002.05202/) (2020)
- [Imagen Video: High Definition Video Generation with Diffusion Models](https://mlsanity.com/paper/2210.02303/) (2022)
- [Gemini: A Family of Highly Capable Multimodal Models](https://mlsanity.com/paper/2312.11805/) (2023)
- [Training Deep Nets with Sublinear Memory Cost](https://mlsanity.com/paper/1604.06174/) (2016)
- [DeepSeek-V3 Technical Report](https://mlsanity.com/paper/2412.19437/) (2024)
- [V-JEPA 2: Self-Supervised Video Models Enable Understanding, Prediction and Planning](https://mlsanity.com/paper/2506.09985/) (2025)
- [VideoGPT: Video Generation using VQ-VAE and Transformers](https://mlsanity.com/paper/2104.10157/) (2021)
- [DeepSeek LLM: Scaling Open-Source Language Models with Longtermism](https://mlsanity.com/paper/2401.02954/) (2024)
- [DanceGRPO: Unleashing GRPO on Visual Generation](https://mlsanity.com/paper/2505.07818/) (2025)
- [Causal World Modeling for Robot Control](https://mlsanity.com/paper/2601.21998/) (2026)
- [Z-Image: An Efficient Image Generation Foundation Model with Single-Stream Diffusion Transformer](https://mlsanity.com/paper/2511.22699/) (2025)
- [DeepSpeed Ulysses: System Optimizations for Enabling Training of Extreme Long Sequence Transformer Models](https://mlsanity.com/paper/2309.14509/) (2023)
- [Unified World Models: Coupling Video and Action Diffusion for Pretraining on Large Robotic Datasets](https://mlsanity.com/paper/2504.02792/) (2025)
- [Auxiliary-Loss-Free Load Balancing Strategy for Mixture-of-Experts](https://mlsanity.com/paper/2408.15664/) (2024)
- [GDPO: Group reward-Decoupled Normalization Policy Optimization for Multi-reward RL Optimization](https://mlsanity.com/paper/2601.05242/) (2026)
- [GAIA-2: A Controllable Multi-View Generative World Model for Autonomous Driving](https://mlsanity.com/paper/2503.20523/) (2025)
- [MixGRPO: Unlocking Flow-based GRPO Efficiency with Mixed ODE-SDE](https://mlsanity.com/paper/2507.21802/) (2025)
- [WorldPlay: Towards Long-Term Geometric Consistency for Real-Time Interactive World Modeling](https://mlsanity.com/paper/2512.14614/) (2025)
- [Ctrl-World: A Controllable Generative World Model for Robot Manipulation](https://mlsanity.com/paper/2510.10125/) (2025)
- [Cosmos 3: Omnimodal World Models for Physical AI](https://mlsanity.com/paper/2606.02800/) (2026)

## Built on by (most cited first, 15 of 15)

- [Native Video-Action Pretraining for Generalizable Robot Control](https://mlsanity.com/paper/2607.08639/) (2026)
- [SANA-Video 2.0: Hybrid Linear Attention with Attention Residuals for Efficient Video Generation](https://mlsanity.com/paper/2607.21553/) (2026)
- [N0-TWAM: Scaling Tactile-Native World-Action Model for Contact-Rich Manipulation](https://mlsanity.com/paper/2607.23783/) (2026)
- [HPSD: Hybrid-Policy Self-Distillation for Text-Image-to-Video Diffusion Models](https://mlsanity.com/paper/2608.13205/) (2026)
- [Pelican-Sim 1.0: A General World Model Simulator for Embodied Intelligence](https://mlsanity.com/paper/2609.12036/) (2026)
- [CausalWM: Causal Chain-of-Thought Reasoning for Embodied World Model](https://mlsanity.com/paper/2609.23184/) (2026)
- [VTR-Bench: A Systematic Benchmark for Evaluating Visual Text Rendering in Video Generation](https://mlsanity.com/paper/2610.01499/) (2026)
- [PAWBench: How Far Are We from Probabilistically Aligned World Modeling?](https://mlsanity.com/paper/2608.27345/) (2026)
- [N0-Foundation: Towards the Age of Tactile Intelligence](https://mlsanity.com/paper/2608.29601/) (2026)
- [DreamX-Creator: Democratizing Native Audio-Video Generation at 2K Resolution](https://mlsanity.com/paper/2608.31106/) (2026)
- [StrucPhysVideo: Learning Physical Dynamics from Structured Captions and Robot Actions](https://mlsanity.com/paper/2609.18430/) (2026)
- [DIET: Deletion-response Expert Trimming for Video Diffusion Transformers](https://mlsanity.com/paper/2609.37829/) (2026)
- [SimForcing: Distilling Simulation Motion Priors into Real-Domain Robot World Models](https://mlsanity.com/paper/2610.06598/) (2026)
- [World Models' Last Exam in Physics](https://mlsanity.com/paper/2610.08791/) (2026)
- [Towards Unified Evaluation of Prompt Enhancers for Video Generation](https://mlsanity.com/paper/2610.11736/) (2026)

## Abstract (arXiv)

Despite the recent promise in robot control, video generative models suffer from a domain mismatch due to their primary focus on content creation. For example, their design inherently prioritizes visual fidelity and creativity over computational efficiency and physical realism. In this work, we present LingBot-Video, a DiT-based video pretraining paradigm specifically tailored for embodied intelligence. From the architecture perspective, we adopt the Mixture-of-Experts (MoE), instead of dense, framework to achieve a better trade-off between modeling capacity and inference efficiency, and manage to scale it up from scratch. From the data perspective, we construct a data profiling engine that augments standard internet videos with extensive robot-oriented footage, encompassing manipulation, navigation, and egocentric perspectives, to equip the base model with an intrinsic understanding of actions and world dynamics. From the training perspective, we develop a multi-dimensional reward system to enforce the alignment regarding physical rationality and task completion, going beyond standard criteria such as aesthetics, prompt-following, and motion consistency. Comprehensive evaluations validate its performance and efficiency as a video foundation model. We contribute LingBot-Video as the inaugural large-scale, open-source MoE video foundation model to the community, in a pioneering effort to bridge digital creativity and physical actuation.