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Pelican-Sim 1.0: A General World Model Simulator for Embodied Intelligence

arXiv · AI, language, vision and robotics · article · Sep 10, 2026 · UTC

In this technical report, we propose Pelican-Sim 1.0, a general world model simulator for embodied intelligence that predicts future observations from visual context and robot actions to support downstream learning and decision making. The model incorporates four key design features: (1) Unified action representation: a 28-dimensional action value space covering most mainstream embodiments, keeping one model valid across heterogeneous devices. (2) Action-visual injection: URDF- and camera-rendered action videos bridge actions and pixels, giving markedly better controllability across embodiment

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