arXiv AI By Hanseul Kim, Jewon Yeom, Youngjoon Jeong, Minsoo Jo, Taesup Kim

Where Predictive Supervision Goes Shapes What VLA Policies Learn

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arXiv AI
Jun 16

LaWAM: Latent World Action Models for Efficient Dynamics-Aware Robot Policies

arXiv:2606. 15768v1 Announce Type: cross Abstract: Vision-Language-Action models (VLAs) leverage large-scale vision-language pretraining for semantic robot control, but often lack explicit foresight into how robot actions change the scene.

By Jialei Chen, Kai Wang, Kang Chen, Shuaihang Chen, Feng Gao, Wenhao Tang, Zhiyuan Li, Weilin Liu, Zhuyu Yao, Boxun Li, Yuanbo Xu, Chao Yu
arXiv AI
Sep 17

PACT-WAM: Predicting Actions and Visual Foresight with Compact Temporal Encoding for Robot Manipulation

PACT‑WAM is a world‑action model that simultaneously predicts a 16‑step action trajectory and its corresponding visual forecast for robot manipulation. It uses a hierarchical history encoder that compresses past observations into fewer tokens, reducing processing cost by 75% compared to dense encoding. The model’s shared flow module updates action and visual states jointly, and a TiTok‑VAE decoder reconstructs multi‑view future images, which are then used by a vision‑language component (Proposal Review) to improve execution‑prefix selection and proposal rejection, boosting success rates on several benchmarks.

By Yushan Liu, Jingjing Fan, Shoujie Li, Yifan Xie, Xiao-Ping Zhang, Wenbo Ding
arXiv AI
Jul 21

Anticipate Before Acting: Future-State-Conditioned Vision-Language Navigation

arXiv:2607. 18042v1 Announce Type: cross Abstract: End-to-end vision-language navigation (VLN) with causal vision-language models can map instructions and egocentric observations directly to actions, but standard behavior cloning supervises only the next action and does not explicitly train the policy state to be predictive of future visual outcomes.

By Lingfeng Zhang, Zhanguang Zhang, Liheng Ma, Tongtong Cao, Yingxue Zhang