Achieve What You Imagined: Learning to Align Actions with Visual Plans
World-action models can jointly predict future visual observations and robot actions. However, discrepancies may exist between their visual predictions and the consequences implied by generated actions. We observe that WAMs can often generate visually plausible task-completion outcomes before producing action sequences...
Yu-Heng Qiao, Zi-Ran Wei, Xiao-Hang Wang et al.
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