UniAction: Unified Action Conditioning for World Models

Paper · Project Page · Code · Training set · Evaluation set

UniAction conditions a shared video world model on force, camera control, hand pose and robot pose.

Download stage1.safetensors, stage2.safetensors and release.json together, and follow the inference example in the code repository. The official Wan2.2-I2V-A14B backbone is downloaded separately.

@article{xue2026uniaction,
  title={UniAction: Unified Action Conditioning for World Models},
  author={Xue, Bowen and Li, Zizhang and Yu, Hong-Xing and Wu, Jiajun},
  journal={arXiv preprint arXiv:2610.32977},
  year={2026}
}

The UniAction adapters are released under Apache License 2.0. The Wan backbone retains its original license. Training sources include EgoDex, Goal Force, DROID and SolarWM; source materials retain their respective terms.