EgoGenesis: Egocentric World-Action Modeling with Online Anchored Projective Memory and Action-3D RoPE

TL;DR - EgoGenesis generates controllable egocentric robot-manipulation videos using geometry-aware memory and action conditioning. Its synthetic trajectories improve real-robot generalization, especially for dual-arm tasks.

• OAPM anchors generation to the first-frame 3D scene while refreshing recent state during long autoregressive rollouts.
• A3D-RoPE injects camera-aware end-effector motion into skeleton-to-video cross-attention for precise action control.
• Adding 400 synthetic trajectories to 400 real ones raises out-of-distribution success from 77% to 84% for single-arm tasks.
• Dual-arm success improves from 53% to 70% with the same augmentation strategy.