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cs.RO2026
MobiAgent: Dual-Loop Recursive Policy Self-Improvement for Long-Horizon Mobile Manipulation
Chenzhi Liu, Yue Zhang, Jiehong Lin +4
Long-horizon mobile manipulation presents significant challenges due to compounding execution errors and capacity interference between locomotion and arm control. While recent Visi…
cs.RO2026
AnyStep-WAM: Budget-Aligned Distillation and Adaptive Inference for World Action Models
Rui Wang, Xiangyu Wang, Donglin Yang +4
World-action models (WAMs) couple predictive visual modeling with action generation, typically relying on iterative denoising with a fixed denoising steps. However, manipulation ta…
cs.RO2026
When to Trust Imagination: Adaptive Action Execution for World Action Models
Rui Wang, Yue Zhang, Jiehong Lin +5
World Action Models (WAMs) jointly predict future visual observations and actions, but typically execute a fixed number of actions before replanning, regardless of whether the imag…