4 papers · 1 filter
Relational Geometry Forcing for World Action Models
Yuan Xu, Yixiang Chen, Qisen Ma +10
World Action Models (WAMs) have shown strong potential for robot manipulation by jointly learning visual dynamics and executable actions. However, their video and action objectives…
What Matters for World Modeling in Vision-Language-Action Models?
Qisen Ma, Yixiang Chen, Yuan Xu +10
Integrating world models into Vision-Language-Action models (VLAs) has emerged as a promising direction, enabling policies to anticipate future dynamics beyond reactive observation…
ViDAL: A Visual Dynamics-Grounded Action Latent Space for Vision-Language-Action Models
Yuan Xu, Yixiang Chen, Qisen Ma +10
Vision-Language-Action (VLA) models have become a central paradigm for robot policy learning, which predict actions in three forms: raw action chunks, discrete action tokens, or co…
FlowWAM: Optical Flow as a Unified Action Representation for World Action Models
Yixiang Chen, Peiyan Li, Yuan Xu +13
World Action Models (WAMs) are able to leverage pretrained video generators for both world modeling and action prediction. However, directly leveraging such video generators for co…