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Tianxin Lin

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Preprint Aug 2026

HarnessWAM: Bridging Prediction and Deliberation in World Action Models

Results demonstrate that model-external structured state maintenance and closed-loop agentic decision making can effectively extend the local control capabilities of WAMs into embodied task execution that is plannable, verifiable, and recoverable.

Zhaopeng Gu, Bingke Zhu, Tianxin Lin et al. · 0 citations