Large Video Planner Enables Generalizable Robot Control

• URL: http://arxiv.org/abs/2512.15840v1
• Date: Wed, 17 Dec 2025 18:35:54 GMT
• Title: Large Video Planner Enables Generalizable Robot Control
• Authors: Boyuan Chen, Tianyuan Zhang, Haoran Geng, Kiwhan Song, Caiyi Zhang, Peihao Li, William T. Freeman, Jitendra Malik, Pieter Abbeel, Russ Tedrake, Vincent Sitzmann, Yilun Du,
• Abstract summary: General-purpose robots require decision-making models that generalize across diverse tasks and environments.<n>Recent works build robot foundation models by extending multimodal large language models (LMs) with action outputs, creating vision--action (VLA) systems.<n>We explore an alternative paradigm of using large-scale video pretraining as a primary modality for building robot foundation models.
• Score: 117.49024534548319
• License: http://creativecommons.org/licenses/by/4.0/
• Abstract: General-purpose robots require decision-making models that generalize across diverse tasks and environments. Recent works build robot foundation models by extending multimodal large language models (MLLMs) with action outputs, creating vision-language-action (VLA) systems. These efforts are motivated by the intuition that MLLMs' large-scale language and image pretraining can be effectively transferred to the action output modality. In this work, we explore an alternative paradigm of using large-scale video pretraining as a primary modality for building robot foundation models. Unlike static images and language, videos capture spatio-temporal sequences of states and actions in the physical world that are naturally aligned with robotic behavior. We curate an internet-scale video dataset of human activities and task demonstrations, and train, for the first time at a foundation-model scale, an open video model for generative robotics planning. The model produces zero-shot video plans for novel scenes and tasks, which we post-process to extract executable robot actions. We evaluate task-level generalization through third-party selected tasks in the wild and real-robot experiments, demonstrating successful physical execution. Together, these results show robust instruction following, strong generalization, and real-world feasibility. We release both the model and dataset to support open, reproducible video-based robot learning. Our website is available at https://www.boyuan.space/large-video-planner/.

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