Preprint
Sep 2026
DIDO: Distilling Interaction-Centric Dynamics into One-Step Denoising for World Action Models
World Action Models (WAMs) use video generation models to predict future visual dynamics for robotic manipulation, but iterative denoising introduces additional latency for closed-loop control. We empirically find that visual content converges at different rates during denoising. Static background structure forms early...
Jing Lyu, Shuanghao Bai, Run-Ze Xiao et al.
· 2 citations