arXiv Machine Learning By Xiaoxiao Lu, Yunlong Dong, Jiahao Shi, Ye Yuan

Making Latent Evolution Explicit: Operator-Structured Transitions for World Action Models

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The paper introduces the Latent Evolution Operator Network (LEON), a new architecture for modeling latent state transitions in World Action Models (WAMs). LEON uses a learned observable space with context‑modulated operator‑based propagation and additive forcing, grounded in a controlled Koopman generator framework. Experiments on two WAM formulations show that LEON improves closed‑loop performance and robustness, demonstrating that the way transitions are realized is a crucial architectural choice in latent WAMs.

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arXiv Computer Vision
Sep 16

World-Action Models for Robot Learning and Control: A Survey

The survey "World-Action Models for Robot Learning and Control" reviews recent advances in coupling future world prediction with executable action generation for robots in open environments. It clarifies the scope of World-Action Models (WAMs) relative to conventional world models, model-based RL, and Vision‑Language‑Action policies, and organizes existing methods through a unified taxonomy covering representations, transition modeling, action interfaces, architectures, training pipelines, data modalities, and scaling strategies. The paper also surveys applications in manipulation, navigation, and autonomous driving, summarizes datasets, benchmarks, and metrics, and discusses key challenges such as action alignment, spatial consistency, long‑horizon memory, and efficient inference.

By Zuxing Lu, Hongjia Zhai, Guanzhi Wang, Huajian Zeng, Jiaqi Yang, Jingyu Liu, Lei Cheng, Yuantai Zhang, Yuheng Qiu, Zezhou Cheng, Ivan Laptev, Danfei Xu, Benjamin Riviere, Giuseppe Loianno, Eric Xing, Xingxing Zuo