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attention bias 1criticality modeling 1dynamic supervision 1importance sampling 1out-of-distribution robustness 1robotic locomotion 1robot manipulation 1self-evolving learning 1vision-language-action 1visual prediction 1

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cs.RO2026

DC-WAM: Dynamic-Centric Visual Supervision and Reasoning for World-Action Models

Haoyuan Ji, Lingxiang Fan, Shang Su +4

The paper introduces DC-WAM, a framework that shifts visual supervision in robot world-action models toward dynamic, interaction-relevant features using flow matching and attention…