Video-first vs. joint world-action models. Trace the arc from UniPi, SuSIE, HiP, GR-1, and VPP through NVIDIA Cosmos and DreamZero — then fine-tune DreamZero for the SO-101 arm on 4×H100, with all seven bugs documented.
Three parts: the video-first lineage, the joint world-action shift, and our own DreamZero-SO101 build.