Preprint
Aug 2026
HarnessWAM: Bridging Prediction and Deliberation in World Action Models
Results demonstrate that model-external structured state maintenance and closed-loop agentic decision making can effectively extend the local control capabilities of WAMs into embodied task execution that is plannable, verifiable, and recoverable.
Zhaopeng Gu, Bingke Zhu, Tianxin Lin et al.
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