Author

Xue-Min Chi

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Preprint Sep 2026

OpenWAM: An Open, Modular Exploration Towards Systematic World-Action Model Pretraining

World-Action Models inherit world knowledge from video-generative priors, and channel it into executable control signals through embodied experience. Existing systems, however, are monolithic: the generative backbone, visual representation, architecture, information flow, inference procedure, and training data are tigh...

Yu-Ran Wang, Siqiao Huang, Ming-Lei Li et al. · 38 citations · ⚡4

Preprint Sep 2026

Behavior-Aligned Action Tokenization for Robot Policy Learning

Autoregressive robot policies learn continuous control by predicting discrete action tokens from observations. Different tasks often share local motions, yet behavioral correspondence across demonstrations receives limited explicit supervision in existing tokenizers. Motions with different timing can therefore lack a s...

Ju Dong, Ze Chen, Zhen-Dong Xie et al. · 1 citation · ⚡1