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Next Forcing: Causal World Modeling with Multi-Chunk Prediction

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Autoregressive video generation has emerged as a powerful paradigm for World Action Models (WAMs). However, existing approaches suffer from slow training convergence and limited converged accuracy, particularly at high frame rates, as the training supervision is confined to the current chunk without explicit signals about future dynamics; they also suffer from slow inference due to iterative video denoising.

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arXiv AI
Sep 17

CSWAM: Better Causal Semantic Representations for Out-of-Distribution Generalization in World Action Models

The paper introduces CSWAM, a Causal Semantic World Action Model that enhances FastWAM by integrating a causal semantic expert based on V-JEPA 2.1. This expert provides temporally grounded, appearance‑agnostic representations of semantic state changes and motion, leveraging sparse observation history and causal attention to improve action‑only inference. Experiments on simulation and real‑robot tasks show that CSWAM significantly boosts out‑of‑distribution generalization, raising success rates from 10.16% to 45.18% on RoboTwin 2.0 and from 27.5% to 70.0% across real‑robot tasks.

By Tianbin Liu, Jian Zhu, Taiyi Su, Jianjun Zhang, Chong Ma, Zitai Huang, Yi Xu
arXiv Computer Vision
Sep 21

MT-WAM: Reorienting the One-Pass Predictive Representation Toward Action Generation

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.

By Yiguang Yang, Jiankun Peng, Xiaoming Wang, Yiran Zhang, Zhibo Fang