The paper introduces PreDE, a policy‑calibrated framework that predicts how post‑training quantization will degrade task performance in world action models (WAMs) before deployment. By calibrating two thresholds on a small development set, PreDE can accept, reject, or defer new quantization configurations based on offline action deviations, achieving 75% coverage of decisions that match closed‑loop outcomes. Experiments on five WAMs and real‑robot trials show that PreDE accurately identifies high‑deviation configurations and enables significant speedups and memory reductions without compromising performance.
arXiv:2607. 28405v1 Announce Type: cross Abstract: World Action Models (WAMs) jointly predict future observations and actions, but their iterative denoising and closed-loop execution make efficient deployment costly.
arXiv:2609.24433v1 Announce Type: cross Abstract: Low-bit vision-language-action inference must reduce observation-to-action latency while preserving robot behavior. We present FoldQuantVLA, a post-t...
arXiv:2605. 28803v2 Announce Type: replace-cross Abstract: Vision-Language-Action (VLA) models unify perception, reasoning, and control within a single policy, yet their multi-billion-parameter backbones and diffusion-based action heads make on-device deployment prohibitively expensive.
arXiv:2603.01209v3 Announce Type: replace Abstract: In CodeAct, language-model agents write Python that calls tools and use execution feedback to choose actions. Persistent runtimes preserve Python v...
arXiv:2605. 28803v3 Announce Type: replace-cross Abstract: Vision-Language-Action (VLA) models unify perception, reasoning, and control in a single policy, but their multi-billion-parameter backbones and diffusion-based action heads make on-device deployment prohibitively expensive.
arXiv:2609.37398v1 Announce Type: new Abstract: World-Action Models (WAMs) couple action generation with predictions of how physical interactions unfold. However, current post-deployment learning par...
AD-WM is a new action‑discriminative joint‑embedding world model designed for counterfactual model predictive control. It augments residual latent dynamics with action‑recovery regularization based on inverse dynamics and conditional mutual information, while discarding auxiliary heads at test time so that MPC remains unchanged. Experiments on OGBench‑Cube and other simulation environments show substantial gains in hard‑start success and mean success, and zero‑shot transfer to a Franka robot improves pick‑and‑place success from 42.2% to 71.1%.
arXiv:2605. 24011v2 Announce Type: replace-cross Abstract: Vision-Language-Action (VLA) models exhibit remarkable action generation for embodied intelligence, but their heavy compute make deployment on edge platforms impractical.
ObserverBench is a benchmark framework that evaluates whether internal mechanistic estimators—called observers—are suitable for guiding interventions, control, or safety actions in language models. It separates estimation accuracy from the loss incurred by the chosen action, showing that accurate predictions do not always lead to better decisions. Experiments on GPT‑2‑small, Qwen2.5‑7B, Gemma‑2‑9B‑it, and Qwen3.5‑9B demonstrate that observers trained on action loss can reduce deployment loss, while traditional metrics like AUROC may rank monitors differently from actual performance.
arXiv:2606. 18114v1 Announce Type: cross Abstract: State Space Models (SSMs) such as Mamba-2 offer linear-time inference but their memory footprint limits edge deployment.
LM‑X is a generalist vision‑language‑action policy that augments action prediction with three online, explicitly supervised signals: return‑to‑go (RTG) for task progress, event‑to‑go (ETG) for the next semantic transition, and heteroscedastic action flow for local reliability. By conditioning action generation on these signals, LM‑X embeds explainability directly into control rather than as a post‑hoc explanation. After a 20‑day pretraining run on 64 GPUs, LM‑X outperforms an action‑only backbone by 16.0 points and a single‑head variant by 10.8 points, and achieves 74.1 % success on 50 RoboTwin2.0 tasks and 68.6 % on seven real‑robot tasks, surpassing the GR00T N1.7 baseline.
arXiv:2609.20892v1 Announce Type: cross Abstract: Closed-loop visual servoing requires predictions that indicate whether an action reduces task error, not only whether the action is plausible. We cal...