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IMPACT: Attention Is the Interaction Map for Scalable Interaction-Aware World Model Training

arXiv · AI, language, vision and robotics · article · Aug 31, 2026 · UTC

World models have made remarkable progress in action-conditioned future prediction for embodied agents, yet still struggle to model physically plausible interactions. Existing approaches address this limitation by constraining the generation process with external representations encoding motion, geometry, or semantics. Obtaining these spatiotemporally dense representations typically requires auxiliary estimators or manual annotations, limiting training scalability. We instead revisit the training objective and identify a supervision-allocation mismatch under the globally averaged mean squared

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