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Why It Matters
World Action Models (WAMs) couple action generation with future visual prediction for robotic manipulation.
Provenance
Discovered via ArXiv and published by ArXiv.
Key Claims
Original description
World Action Models (WAMs) couple action generation with future visual prediction for robotic manipulation. However, completing the joint video-action denoising process at each replanning cycle incurs substantial latency, delaying action updates and limiting closed-loop responsiveness. We present Rolling-WAM, a formulation that distributes joint denoising across successive replanning cycles. Our method maintains a sliding window of video-action chunks at staggered noise levels. At each step, a rolling noise schedule fully denoises the imminent action chunk for execution, while partially refini...
Discovered via ArXiv
Research papers and preprints from arXiv.
Publisher: arxiv.org
ID: http://arxiv.org/abs/2609.30247v1 · Indexed about 1 hour ago