Author

Yutian Zhang

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Preprint Aug 2026

DECOWAM: Decoupled Whole-Body World-Action Model for Legged Mobile Manipulation

DECOWAM is introduced, a whole-body world-action model that separates camera ego-motion from base and arm actions through dedicated conditional interfaces and shows that embodiment-aware factorization can support parameter-efficient joint visual prediction and whole-body control under moving viewpoints.

Siyuan Ma, Boshi Zhang, Yutian Zhang et al. · 1 citation