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This paper proposes Time–Frequency Geometric Cross-Attention (TFGCA), a drop-in module for chunked vision-language-action models that improves action trajectory prediction by decomposing chunks into time-frequency representations and capturing geometric relationships, resulting in significant performance gains on benchmarks and real-robot tasks.
DreamX-Phi 1.0 is an action-conditioned video world model for robotic manipulation that predicts future observations using geometric attention encoding, depth estimation, and distillation, achieving top results in the WorldArena 2.0 Challenge.