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<!DOCTYPE html>
<html>
<head>
<meta charset="utf-8">
<meta name="description"
content=".">
<meta name="keywords"
content="UCM, Video Generation, Camera Control, Memory Retrieval">
<meta name="viewport" content="width=device-width, initial-scale=1">
<title>UCM</title>
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rel="stylesheet">
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<script src="./static/js/bulma-slider.min.js"></script>
<script src="./static/js/fontawesome.all.min.js"></script>
</head>
<body>
<section class="hero teaser ">
<div class="hero-body">
<div class="container is-max-desktop has-text-centered">
<div class="columns is-centered">
<div class="column has-text-centered ">
<img src="img/logo.png" style="height:150px; margin-bottom: 10px;"></img>
<h1 class="title is-1 publication-title has-text-centered">
UCM: Unifying Camera Control and Memory with Time-aware Positional Encoding Warping for World Models
</h1>
<!-- <h2 class="title publication-title is-4 has-text-grey"> ArXiV 2026 </h2> -->
<div class="is-size-5 publication-authors">
<span class="author-block">
<a href='https://scholar.google.com/citations?user=zHp0rMIAAAAJ'>Tian-Xing Xu</a><sup>*1</sup>
</span>
<span class="author-block">
<a href="https://scholar.google.com/citations?user=4JKwZRsAAAAJ">Zi-Xuan Wang</a><sup>*1</sup>
</span>
<span class="author-block">
Guangyuan Wang<sup>*†2</sup>
</span>
<span class="author-block">
<a href="https://scholar.google.com/citations?user=Arz3iGUAAAAJ">Li Hu</a><sup>†2</sup>
</span>
<span class="author-block">
<a href="https://scholar.google.com/citations?user=dOWmKOUAAAAJ">Zhongyi Zhang</a><sup>3</sup>
</span>
<span class="author-block">
<a href="https://scholar.google.com/citations?user=QTgxKmkAAAAJ">Peng Zhang</a><sup>2</sup>
</span>
<span class="author-block">
Bang Zhang<sup>‡2</sup>
</span>
<span class="author-block">
<a href='https://scholar.google.com/citations?user=AWtV-EQAAAAJ'>Song-Hai Zhang</a><sup>‡1</sup>
</span>
</div>
<div class="is-size-5 publication-authors">
<span class="author-block"><sup>1</sup>Tsinghua University</span>
<span class="author-block"><sup>2</sup>Tongyi Lab, Alibaba</span>
<span class="author-block"><sup>3</sup>USTC</span>
</div>
<div class="is-size-5 publication-authors">
<span class="author-block"><sup>*</sup>Co-first authors</span>
<span class="author-block"><sup>†</sup>Project leader</span>
<span class="author-block"><sup>‡</sup>Corresponding authors</span>
</div>
<div class="column has-text-centered">
<div class="publication-links">
<span class="link-block">
<!-- Paper Link. TODO-->
<a href="https://arxiv.org/abs/2602.22960"
class="external-link button is-normal is-rounded is-dark">
<span class="icon">
<i class="ai ai-arxiv"></i>
</span>
<span>arXiv</span>
</a>
<!-- Code Link. TODO -->
<!-- <a href="https://github.com/"
class="external-link button is-normal is-rounded is-dark">
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<span>Code</span>
</a> -->
<!-- HF Link. TODO -->
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rel="noopener noreferrer" class="external-link button is-normal is-rounded is-dark">
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🤗
</span>
<span>Demo</span>
</a> -->
<!-- Model Link. TODO -->
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rel="noopener noreferrer" class="external-link button is-normal is-rounded is-dark">
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class="external-link button is-normal is-rounded is-dark">
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</span>
<span>Video</span>
</a>
</span>
</span>
</div>
</div>
</div>
</div>
</div>
</div>
</section>
<section class="hero teaser is-light is-small">
<div class="hero-body">
<div class="container" style="text-align: left; ">
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</div>
<div class="content has-text-justified" style="margin-top: 15px;">
We present <b>UCM</b>, a novel framework to explore 4D world of a reference image following the user-specified camera trajectory, which unifies long-term memory and precise camera control via a time-aware positional encoding warping mechanism.
</div>
</div>
</div>
</section>
<script>
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<br><br>
<section class="hero teaser is-small">
<div class="hero-body">
<div class="container is-max-desktop">
<div class="columns is-centered">
<div class="column has-text-centered">
<div class="columns is-centered has-text-centered"></div>
<h2 class="title is-3">Overview</h2>
<div class="publication-video">
<iframe src="https://www.youtube.com/embed/5R3PbKN4ER8?si=KgRHjzcBSGQyBSKL" frameborder="0" allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture" allowfullscreen referrerpolicy="strict-origin-when-cross-origin"></iframe>
</div>
</div>
</div>
</div>
</div>
</div>
</section>
<section class="hero teaser">
<div class="hero-body">
<!-- Method. -->
<div class="columns is-centered has-text-centered">
<div class="columns is-centered has-text-centered">
<div class="column is-three-fifths" style=" margin-top: 30px; margin-bottom: 20px;">
<h2 class="title is-3">Introduction</h2>
<div class="content has-text-justified">
<b>Abstract.</b>
World models based on video generation demonstrate remarkable potential for simulating interactive environments but face persistent difficulties in two key areas:
maintaining long-term content consistency when scenes are revisited and enabling precise camera control from user-provided inputs.
Existing methods based on explicit 3D reconstruction often compromise flexibility in unbounded scenarios and fine-grained structures.
Alternative methods rely directly on previously generated frames without establishing explicit spatial correspondence, thereby constraining controllability and consistency.
To address these limitations, we present <b>UCM</b>, a novel framework that unifies long-term memory and precise camera control via a time-aware positional encoding warping mechanism.
To reduce computational overhead, we design an efficient dual-stream diffusion transformer for high-fidelity generation.
Moreover, we introduce a scalable data curation strategy utilizing point-cloud-based rendering to simulate scene revisiting, facilitating training on over 500K monocular videos.
Extensive experiments on real-world and synthetic benchmarks demonstrate that <b>UCM</b> significantly outperforms state-of-the-art methods in long-term scene consistency, while also achieving precise camera controllability in high-fidelity video generation.
<div class="hero-body" style="margin-top: 40px; margin-bottom: -30px;">
<img id="overview" width="100%" src="./img/ucm.png"/>
</div>
<b>An overview of UCM.</b>
Given previously generated frames and a specific camera trajectory as input, <b>UCM</b> encodes the historical frames into clean tokens to condition the denoising of noisy tokens.
For camera control and memory injection, the framework proposes time-aware positional encoding warping to establish spatio-temporal correspondence and an efficient dual-stream transformer architecture for processing.
After iterative denoising, <b>UCM</b> yields a high-fidelity, scene-consistent video that adheres to the user-specified trajectory.
<div class="hero-body" style="margin-top: 40px; margin-bottom: -30px;">
<img id="inference" width="50%" src="./img/ucm_block.png"/>
</div>
<b>The architecture of UCM DiT-block.</b>
Each noisy token attends to all other noisy tokens and is guided by clean tokens via time-aware warped PEs, implemented through KV concatenation.
For the clean tokens, each token attends only to other clean tokens within the same frame using original PEs.
This block-sparse attention mask enables camera control and memory guidance with reduced computational cost.
</div>
</div>
</div>
</div>
<!--/ Method. -->
</div>
</section>
<section class="hero teaser is-light is-small">
<div class="hero-body">
<div class="container" style="text-align: center; ">
<h2 class="title is-3">Cycle Trajectory</h2>
<div id="editting-carousel-horizontal" class="carousel results-carousel">
<video muted autoplay="autoplay" loop="loop" width="100%" preload controls>
<source src="video/cycle/59_ucm.mp4" type="video/mp4">
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</div>
</section>
<section class="hero teaser is-light is-small">
<div class="hero-body">
<div class="container" style="text-align: center; ">
<h2 class="title is-3">
Memory Initialization
</h2>
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</section>
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<h2 class="title is-3">Comparison with Monocular Depth Estimation methods on labeled datasets</h2>
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