Author

Ju-Ze Zhang

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Preprint Oct 2026

OpenWAM: An Open Framework for Composable World-Action Models

World-action models (WAMs) couple future prediction with robot control, yet existing systems often vary the video backbone, interaction structure, supervision, and inference procedure simultaneously, making their design choices difficult to compare. We introduce OPENWAM, an open world-action modeling framework built ar...

Heng Yu, David Yuan, Ju-Ze Zhang et al. · 0 citations

#machine learning May 2026

SCRIPT: Scalable Diffusion Policy with Multi-stage Training for Language-driven Physics-based Humanoid Control

This work proposes SCRIPT, a scalable diffusion policy with a multi-stage training framework for language-driven physics-based humanoid control, and introduces a nonlinear history conditioning mechanism, which preserves the dense recent context and samples increasingly sparse cues from long-term history.

Jingyan Zhang, Han Liang, Rui-Chi Zhang et al. · arXiv.org · 5 citations · ⚡2