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Sponsored Artificial Intelligence: A Modern Approach, Global Edition Artificial Intelligence: A Modern Approach, Global Edition

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Ia M. Kolomiets

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Preprint Oct 2026

AutodidactWAM: Cross-Modal Self-Distillation from Generated Video to Robot Actions

World-action models (WAMs) such as Cosmos 3 jointly generate future video and robot actions from an observation and instruction. Adapting one such model with a lightweight LoRA fine-tune to a previously unseen robot, a Unitree G1 humanoid with five-fingered BrainCo hands, exposes a video-action asymmetry: the video ren...

S. Kurchev, Ia M. Kolomiets, Miguel Altamirano Cabrera et al. · 0 citations

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