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cs.RO2026
CAG-WAM: Causal Action-Gain World Action Models for Robot Manipulation
Peizheng Guo, Cheng Zhang, Xingyu Zhang +2
World Action Models (WAMs) combine action generation with future prediction, allowing predicted futures to support action evaluation and robot decision making. However, the future…
cs.RO2026
PAPO-VLA: Planning-Aware Policy Optimization for Vision-Language-Action Models
Peizheng Guo, Jingyao Wang, Changwen Zheng +1
Vision-Language-Action (VLA) models show promising ability in language-guided robotic tasks. However, making VLA policies reliable remains challenging, because a manipulation task…