GlanceWAM introduces a sparse test‑time imagination approach for world‑action models that decouples visual imagination from control. By asynchronously generating a single lookahead frame on a slow clock and decoding action chunks at a 48 ms control rate purely in latent space, it avoids latency while maintaining high success. The method achieves 72.2 % on the RoboCasa kitchen benchmark and 99.0 % on LIBERO, running 24× faster than synchronous baselines.
arXiv:2610.02508v1 Announce Type: new Abstract: World action models (WAMs) have emerged as a promising paradigm for robotic control by jointly predicting future visual dynamics and actions from an in...
arXiv:2609.38984v1 Announce Type: cross Abstract: World-action models (WAMs) leverage pretrained video models to improve generalization in robot control by jointly predicting future visual states and...
WAM-Cache is a training‑free framework that reuses layerwise key‑value (KV) representations from a pretrained video Diffusion Transformer (DiT) across control chunks, recomputing only a sparse set of refreshed tokens. By selecting refresh tokens based on the action expert’s cross‑attention, visual latent surprise, and a strict age bound, it reduces DiT prefill FLOPs by 32‑42% on datasets such as RoboTwin 2.0 and LIBERO while maintaining action accuracy within 0.7‑1.8 percentage points of the dense baseline in simulation and 2.5 points on a real robot.
arXiv:2606. 08962v1 Announce Type: new Abstract: World Action Models (WAMs) generalize better than standard Vision-Language-Action (VLA) policies to novel motions and environments, because a video-modeling objective lets them learn from abundant unlabeled video rather than scarce labeled robot demonstrations.
MT‑WAM enhances the Fast‑WAM framework by adding complementary supervision for future 2‑D point trajectories and visual features while keeping the original training objectives. A lightweight dual‑stream branch and structured attention mask isolate motion‑specific processing, and motion‑stream tokens provide additional dynamics cues to the action expert. During inference, MT‑WAM skips future‑video prediction, using cached video and motion information to achieve higher success rates on LIBERO, LIBERO‑Plus, RoboTwin 2.0 Clean2Rand, and several real‑world tasks.
arXiv:2609.39235v1 Announce Type: cross Abstract: World models offer a promising way to help robots understand how the physical world evolves and plan complex behaviours through imagination. Yet exis...
arXiv:2610.10528v1 Announce Type: cross Abstract: Real-time robot control demands enough visual history to infer motion and task progress, but processing that history can delay action. We present Lon...
arXiv:2609.38057v1 Announce Type: new Abstract: Improving robot policies on new tasks without collecting additional expert demonstrations remains a central challenge in robot learning. World action m...
arXiv:2607. 15621v1 Announce Type: cross Abstract: Large language models bring instruction following and scene reasoning to end-to-end driving, but their inference latency collides with the control rate a vehicle requires.
DeltaWAM introduces a new approach to world-action models (WAMs) for bimanual manipulation by jointly predicting visual deltas and actions instead of dense future frames, thereby reducing redundant modeling of unchanged content and mitigating nuisance appearance variations. The method employs three architectures with varying representation and computation sharing, and incorporates Streaming Delta Memory (SDM) to update cached anchor context using compact observed deltas, which cuts heavy video-expert processing. Experiments on RoboTwin show that DeltaWAM with SDM raises average success rates from 81.3% to 85.4% in clean settings and from 75.8% to 83.9% under visual randomization, while also reducing training FLOPs by up to 23.77% and inference latency by 36.57%. whyItMatters":"DeltaWAM improves both performance and computational efficiency for bimanual manipulation tasks by focusing on visual deltas and efficient memory updates, as demonstrated by higher success rates and lower FLOPs on RoboTwin."
arXiv:2609.34792v2 Announce Type: replace Abstract: Long-horizon manipulation requires robots to remember cues that are no longer in view while responding to moving objects. Yet vision-language-actio...
arXiv:2606. 09811v1 Announce Type: cross Abstract: World-action models have emerged as a promising paradigm for robot manipulation, jointly modeling visual scene dynamics and actions to inject physical priors into policy learning.