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cs.CV2026
Wiring Matters: Injection Topology and Initialization of Affordance Heads in Vision-Language-Action Policies
Zijian An, Linhan Wang, Jiayan Wang +4
Dense affordance supervision is an appealing auxiliary signal for vision-language-action (VLA) policies, yet naively co-training an affordance head can severely damage instruction…
cs.CV2026
GlanceWAM: Sparse Test-Time Imagination for World-Action Models
Linhan Wang, Zijian An, Mingyuan Zhang +8
Video generative models provide rich physical priors for robot learning, yet existing world-action models (WAMs) face a fundamental trade-off: synchronous video generation at contr…