Preprint
Sep 2026
FutureDuet: Decoupling Observation Access from Future Supervision in World Action Models
World Action Models (WAMs) augment robot action generation with future visual supervision. Existing WAMs commonly fuse main and wrist observations into one visual stream and train both with the same future-video objective, despite their different visual dynamics. A stable main camera reveals scene-level task evolution,...
Jie Wu, Yu-Zhi Huang, Jun-Qi Liu et al.
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