Showing 2026Show all
2 papers · 1 filter
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.CV2026
Stable Velocity: A Variance Perspective on Flow Matching
Donglin Yang, Yongxing Zhang, Xin Yu +5
While flow matching is elegant, its reliance on single-sample conditional velocities leads to high-variance training targets that destabilize optimization and slow convergence. By…