Copper-Policy: Focus on the Representation for Robust Robot Manipulation
World Action Models (WAMs) acquire behavioral priors by modeling future scene evolution, but predicting detailed futures in pixel or latent space incurs substantial cost. Recent evidence that co-training gains persist without test-time generation raises a question: what must a WAM learn to improve control? We introduce...
Ze Feng, Yi-Xu Feng, Ling-Yu Xiao et al.
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