Author

Rui Yan

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Preprint Aug 2026

FACT: Failure-Aware Causal Training for World-Action Models

FACT is introduced, a causal World-Action Model that predicts future video and task progress conditioned on the executed action, and allows failure rollouts to supervise action consequences, turning bad actions into valid future targets rather than being discarded.

Quanquan Peng, Yutong Liang, Rui Yan et al. · 5 citations · ⚡1