Orca: An initial instantiation of a general world foundation model</p>\n<p>English version of video demo</p>\n<p><video src=\"https://cdn-uploads.huggingface.co/production/uploads/68c429ef60f075cc46cc9cff/x_k0Y8vWVrGGuk-uHfWv3.mp4\" controls=\"\" class=\"max-w-full!\"></video></p>\n","updatedAt":"2026-07-01T07:53:01.071Z","author":{"_id":"68c429ef60f075cc46cc9cff","avatarUrl":"/avatars/21d277a1b46eabc967121a111e270cdd.svg","fullname":"yh-wang","name":"yh-wang","type":"user","isPro":false,"isHf":false,"isHfAdmin":false,"isMod":false,"followerCount":3,"isUserFollowing":false}},"numEdits":1,"identifiedLanguage":{"language":"en","probability":0.6210347414016724},"editors":["yh-wang"],"editorAvatarUrls":["/avatars/21d277a1b46eabc967121a111e270cdd.svg"],"reactions":[{"reaction":"❤️","users":["multimodalart","yh-wang","yuheng2000","syq1105","HuaihaiLyu","jsw19","AdinaY"],"count":7}],"isReport":false}},{"id":"6a434ecf53b10acf98b3b196","author":{"_id":"68c429ef60f075cc46cc9cff","avatarUrl":"/avatars/21d277a1b46eabc967121a111e270cdd.svg","fullname":"yh-wang","name":"yh-wang","type":"user","isPro":false,"isHf":false,"isHfAdmin":false,"isMod":false,"followerCount":3,"isUserFollowing":false},"createdAt":"2026-06-30T05:06:23.000Z","type":"comment","data":{"edited":true,"hidden":true,"hiddenBy":"","hiddenReason":"Low Quality","latest":{"raw":"This comment has been hidden","html":"This comment has been hidden","updatedAt":"2026-06-30T09:51:23.752Z","author":{"_id":"68c429ef60f075cc46cc9cff","avatarUrl":"/avatars/21d277a1b46eabc967121a111e270cdd.svg","fullname":"yh-wang","name":"yh-wang","type":"user","isPro":false,"isHf":false,"isHfAdmin":false,"isMod":false,"followerCount":3,"isUserFollowing":false}},"numEdits":2,"editors":[],"editorAvatarUrls":[],"reactions":[]}},{"id":"6a4444c05d5f6d116b4c15a1","author":{"_id":"65e78af9706749f643b4088b","avatarUrl":"/avatars/de11e45718030fb12bd84612df7f880c.svg","fullname":"Lionel Li","name":"abcdvzz","type":"user","isPro":false,"isHf":false,"isHfAdmin":false,"isMod":false,"followerCount":2,"isUserFollowing":false},"createdAt":"2026-06-30T22:35:44.000Z","type":"comment","data":{"edited":false,"hidden":false,"latest":{"raw":"why can't I see this paper in daily-paper page anymore?\n","html":"<p>why can't I see this paper in daily-paper page anymore?</p>\n","updatedAt":"2026-06-30T22:35:44.979Z","author":{"_id":"65e78af9706749f643b4088b","avatarUrl":"/avatars/de11e45718030fb12bd84612df7f880c.svg","fullname":"Lionel Li","name":"abcdvzz","type":"user","isPro":false,"isHf":false,"isHfAdmin":false,"isMod":false,"followerCount":2,"isUserFollowing":false}},"numEdits":0,"identifiedLanguage":{"language":"en","probability":0.978257417678833},"editors":["abcdvzz"],"editorAvatarUrls":["/avatars/de11e45718030fb12bd84612df7f880c.svg"],"reactions":[],"isReport":false},"replies":[{"id":"6a447a52e48edc01e14e42cf","author":{"_id":"68c429ef60f075cc46cc9cff","avatarUrl":"/avatars/21d277a1b46eabc967121a111e270cdd.svg","fullname":"yh-wang","name":"yh-wang","type":"user","isPro":false,"isHf":false,"isHfAdmin":false,"isMod":false,"followerCount":3,"isUserFollowing":false},"createdAt":"2026-07-01T02:24:18.000Z","type":"comment","data":{"edited":false,"hidden":false,"latest":{"raw":"Done! Thank you!","html":"<p>Done! Thank you!</p>\n","updatedAt":"2026-07-01T02:24:18.869Z","author":{"_id":"68c429ef60f075cc46cc9cff","avatarUrl":"/avatars/21d277a1b46eabc967121a111e270cdd.svg","fullname":"yh-wang","name":"yh-wang","type":"user","isPro":false,"isHf":false,"isHfAdmin":false,"isMod":false,"followerCount":3,"isUserFollowing":false}},"numEdits":0,"identifiedLanguage":{"language":"en","probability":0.5443900227546692},"editors":["yh-wang"],"editorAvatarUrls":["/avatars/21d277a1b46eabc967121a111e270cdd.svg"],"reactions":[],"isReport":false,"parentCommentId":"6a4444c05d5f6d116b4c15a1"}}]},{"id":"6a4479051569e458a001437d","author":{"_id":"68c429ef60f075cc46cc9cff","avatarUrl":"/avatars/21d277a1b46eabc967121a111e270cdd.svg","fullname":"yh-wang","name":"yh-wang","type":"user","isPro":false,"isHf":false,"isHfAdmin":false,"isMod":false,"followerCount":3,"isUserFollowing":false},"createdAt":"2026-07-01T02:18:45.000Z","type":"comment","data":{"edited":true,"hidden":false,"latest":{"raw":"Orca: an initial instantiation of a general world foundation model.\n","html":"<p>Orca: an initial instantiation of a general world foundation model.</p>\n","updatedAt":"2026-07-01T07:52:54.062Z","author":{"_id":"68c429ef60f075cc46cc9cff","avatarUrl":"/avatars/21d277a1b46eabc967121a111e270cdd.svg","fullname":"yh-wang","name":"yh-wang","type":"user","isPro":false,"isHf":false,"isHfAdmin":false,"isMod":false,"followerCount":3,"isUserFollowing":false}},"numEdits":2,"identifiedLanguage":{"language":"en","probability":0.6349899768829346},"editors":["yh-wang"],"editorAvatarUrls":["/avatars/21d277a1b46eabc967121a111e270cdd.svg"],"reactions":[],"isReport":false}},{"id":"6a45c35e9ccf9a0e8c32510a","author":{"_id":"63d3e0e8ff1384ce6c5dd17d","avatarUrl":"https://cdn-avatars.huggingface.co/v1/production/uploads/1674830754237-63d3e0e8ff1384ce6c5dd17d.jpeg","fullname":"Librarian Bot (Bot)","name":"librarian-bot","type":"user","isPro":false,"isHf":false,"isHfAdmin":false,"isMod":false,"followerCount":372,"isUserFollowing":false},"createdAt":"2026-07-02T01:48:14.000Z","type":"comment","data":{"edited":false,"hidden":false,"latest":{"raw":"This is an automated message from the [Librarian Bot](https://huggingface.co/librarian-bots). I found the following papers similar to this paper. \n\nThe following papers were recommended by the Semantic Scholar API \n\n* [Motion-Focused Latent Action Enables Cross-Embodiment VLA Training from Human EgoVideos](https://huggingface.co/papers/2606.18955) (2026)\n* [RepWAM: World Action Modeling with Representation Visual-Action Tokenizers](https://huggingface.co/papers/2606.13674) (2026)\n* [RotVLA: Rotational Latent Action for Vision-Language-Action Model](https://huggingface.co/papers/2605.13403) (2026)\n* [GeoSem-WAM: Geometry- and Semantic-Aware World Action Models](https://huggingface.co/papers/2606.03188) (2026)\n* [Geometric Action Model for Robot Policy Learning](https://huggingface.co/papers/2606.17046) (2026)\n* [HiMem-WAM: Hierarchical Memory-Gated World Action Models for Robotic Manipulation](https://huggingface.co/papers/2606.10363) (2026)\n* [STORM: Internalized Modeling for Spatial-Temporal Reasoning in Video-Language Models](https://huggingface.co/papers/2605.26014) (2026)\n\n\n Please give a thumbs up to this comment if you found it helpful!\n\n If you want recommendations for any Paper on Hugging Face checkout [this](https://huggingface.co/spaces/librarian-bots/recommend_similar_papers) Space\n\n You can directly ask Librarian Bot for paper recommendations by tagging it in a comment: `@librarian-bot recommend`","html":"<p>This is an automated message from the <a href=\"https://huggingface.co/librarian-bots\">Librarian Bot</a>. I found the following papers similar to this paper. </p>\n<p>The following papers were recommended by the Semantic Scholar API </p>\n<ul>\n<li><a href=\"https://huggingface.co/papers/2606.18955\">Motion-Focused Latent Action Enables Cross-Embodiment VLA Training from Human EgoVideos</a> (2026)</li>\n<li><a href=\"https://huggingface.co/papers/2606.13674\">RepWAM: World Action Modeling with Representation Visual-Action Tokenizers</a> (2026)</li>\n<li><a href=\"https://huggingface.co/papers/2605.13403\">RotVLA: Rotational Latent Action for Vision-Language-Action Model</a> (2026)</li>\n<li><a href=\"https://huggingface.co/papers/2606.03188\">GeoSem-WAM: Geometry- and Semantic-Aware World Action Models</a> (2026)</li>\n<li><a href=\"https://huggingface.co/papers/2606.17046\">Geometric Action Model for Robot Policy Learning</a> (2026)</li>\n<li><a href=\"https://huggingface.co/papers/2606.10363\">HiMem-WAM: Hierarchical Memory-Gated World Action Models for Robotic Manipulation</a> 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Zheng","hidden":false},{"_id":"6a4334fd763f63ca3757e94b","name":"Jiaming Li","hidden":false},{"_id":"6a4334fd763f63ca3757e94c","name":"Yonghua Lin","hidden":false},{"_id":"6a4334fd763f63ca3757e94d","name":"Tiejun Huang","hidden":false},{"_id":"6a4334fd763f63ca3757e94e","name":"Zhongyuan Wang","hidden":false},{"_id":"6a4334fd763f63ca3757e94f","name":"Pengwei Wang","hidden":false}],"mediaUrls":["https://cdn-uploads.huggingface.co/production/uploads/68c429ef60f075cc46cc9cff/ceZCPH1jShoRORZCEPALp.mp4"],"publishedAt":"2026-06-29T00:00:00.000Z","submittedOnDailyAt":"2026-07-01T00:00:00.000Z","title":"Orca: The World is in Your Mind","submittedOnDailyBy":{"_id":"68c429ef60f075cc46cc9cff","avatarUrl":"/avatars/21d277a1b46eabc967121a111e270cdd.svg","isPro":false,"fullname":"yh-wang","user":"yh-wang","type":"user","name":"yh-wang"},"summary":"We introduce Orca, an initial instantiation of a general world foundation model. Orca learns a unified world latent space from multimodal world signals and exposes it through multimodal readout interfaces. Rather than optimizing isolated next-token, next-frame, or next-action prediction, we are centered on Next-State-Prediction modeling, offering a unified state-transition modeling route toward understanding, predicting, and acting upon the world. Orca learns through two complementary paradigms: unconscious learning captures dense natural state transitions from continuous videos, and conscious learning models sparse meaningful state transitions by language-described events and VQA supervision. For pre-training, we construct a large-scale world-learning inventory data, including 125K hours of video data and 160M event annotations. After pre-training, Orca learns a unified world latent space. To examine whether the learned latent supports downstream, we evaluate it by three representative downstream readouts: text generation, image prediction, and embodied action generation. Orca's backbone is frozen, and only the lightweight modality-specific decoders are trainable. Experiments show the scalability of the proposed paradigm and verify that stronger world latent enables stronger downstream readouts. Orca outperforms similar-sized specialized baselines. These results show that Orca, as a general world foundation model, presents a promising approach to understanding, predicting, and acting upon the world. Finally, we discuss the current limitations, aiming to provide useful insights and inspiration for the community.","upvotes":177,"discussionId":"6a4334fd763f63ca3757e950","projectPage":"https://orca-wm.github.io/","ai_summary":"Orca establishes a unified world latent space through next-state-prediction modeling using multimodal data and demonstrates superior performance in downstream tasks compared to specialized baselines.","ai_keywords":["world foundation model","world latent space","multimodal readout interfaces","next-state-prediction modeling","unconscious learning","conscious learning","world-learning inventory data","embodied action generation","downstream readouts","modality-specific decoders"],"ai_summary_model":"Qwen/Qwen2.5-Coder-32B-Instruct"},"canReadDatabase":false,"canManagePapers":false,"canSubmit":false,"hasHfLevelAccess":false,"upvoted":false,"upvoters":[{"_id":"668f5478b3991ac0c3fc9c2f","avatarUrl":"/avatars/a775853d3b88e7b1c8494ca837b5495c.svg","isPro":false,"fullname":"yuhengji","user":"yuheng2000","type":"user"},{"_id":"671fa0de0a34a05602094909","avatarUrl":"/avatars/e35890e1f71a8c3f4e33b35a027e180a.svg","isPro":false,"fullname":"Yanqing Shen","user":"syq1105","type":"user"},{"_id":"68c42a67875f1b666674b155","avatarUrl":"/avatars/633a31af89cb5800d17c917f5dc69c90.svg","isPro":false,"fullname":"lingxiaoli","user":"lingxiaoli","type":"user"},{"_id":"64c3e387ed521f27a4e62fb2","avatarUrl":"/avatars/0dac1fdad16c4d2538b7fb2b1ff4e120.svg","isPro":false,"fullname":"WangXIXI","user":"wangxixi","type":"user"},{"_id":"67e406e64b80e9b39e2a85d6","avatarUrl":"/avatars/a021be64341e5d7a079858916fa34c28.svg","isPro":false,"fullname":"MinglanLin","user":"MinglanLin","type":"user"},{"_id":"65fce52cb6fa00949682d41b","avatarUrl":"https://cdn-avatars.huggingface.co/v1/production/uploads/65fce52cb6fa00949682d41b/RZ6J1Ovix-jJW9KSiWcEk.jpeg","isPro":false,"fullname":"Zihan Tang","user":"tzh21","type":"user"},{"_id":"6570450a78d7aca0c361a177","avatarUrl":"https://cdn-avatars.huggingface.co/v1/production/uploads/6570450a78d7aca0c361a177/MX7jHhTQwLs-BvYIu5rqb.jpeg","isPro":false,"fullname":"Harold Chen","user":"Harold328","type":"user"},{"_id":"66b394a5987f5d2e497ec586","avatarUrl":"/avatars/3d5f83477f31c5bf4a3874b274671ff4.svg","isPro":false,"fullname":"Korey Kshlerin","user":"good-only","type":"user"},{"_id":"688f826ec643cb8458976797","avatarUrl":"/avatars/3751ed39c1462aba338c69a2e3c99df0.svg","isPro":false,"fullname":"Zum","user":"zumuzo","type":"user"},{"_id":"63a369d98c0c89dcae3b8329","avatarUrl":"https://cdn-avatars.huggingface.co/v1/production/uploads/63a369d98c0c89dcae3b8329/AiH2zjy1cnt9OADAAZMLD.jpeg","isPro":false,"fullname":"Adina Yakefu","user":"AdinaY","type":"user"},{"_id":"65ca42cdec034119ee2947dc","avatarUrl":"https://cdn-avatars.huggingface.co/v1/production/uploads/65ca42cdec034119ee2947dc/R8lQVZfXKyQems8mVfp_A.png","isPro":false,"fullname":"Dave Bayer","user":"davebay","type":"user"},{"_id":"689357458de72bdb797e21fa","avatarUrl":"/avatars/8463e6fb62f304b82dba223caebbe89f.svg","isPro":false,"fullname":"Seeta Kapoor","user":"SeetaFace","type":"user"}],"acceptLanguages":["en"],"dailyPaperRank":1,"markdownContentUrl":"https://huggingface.co/buckets/huggingchat/papers-content/resolve/2606/2606.30534.md","query":{}}">

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