# GenSight: A Unified Embodied World Model for Video Generation and 4D Perception

- Source: arXiv cs.RO
- Published: 2026-11-02T05:00:00.000Z
- RoboHot: https://robohot.news/en/items/kg9bdey1b4h9p8fw4g6rp8ckj
- Original: https://arxiv.org/abs/2610.39232

## Summary

GenSight is a unified embodied world model that integrates future video generation and dense perception into a single pretrained video diffusion Transformer. It uses a unified spatiotemporal representation covering video, depth, embodiment segmentation, and 2D optical flow relative to the first frame; built on a shared DiT backbone, it predicts each modality within the same architecture via lightweight task modulation, and jointly optimizes them in a unified velocity prediction space. At inference, it supports multi-step future video generation with aligned dense prediction, as well as single-step dense perception from an observed video. Training data covers a variety of robot embodiments and human hand interaction.