Thinker-WM: A Unified World Model with Shared Multimodal Representations for Embodied Intelligence

arXiv:2610.18447v3 Announce Type: replace Abstract: World models have emerged as a promising paradigm for embodied AI, yet existing systems often remain fragmented in the modalities they model and the functions they support. In particular, visual dynamics, geometric structure, and executable action are commonly coupled through separate interfaces or downstream modules rather than being jointly represented and evolved within a shared dynamics model. In this work, we present Thinker-WM, a unified multimodal world model that jointly models and generates RGB, metric depth, and robot action through

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