Author

Zhizhong Su

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Preprint Sep 2026

Rethinking Representations for World-Action Modeling

World-action models jointly learn robot policies and predict future observations, making the representation space an interface between control and prediction. We study the design of this space through controlled comparisons, finding that neither reconstruction fidelity nor pre-trained perceptual features alone ensure e...

Hao-Yi Jiang, Liu Liu, Xin-Jiang Wang et al. · 0 citations

Jul 2026

IGGT4D: Streaming 4D Instance-Grounded Geometry Transformer

Experiments on 3D reconstruction, pose estimation, instance spatial tracking, and open-vocabulary segmentation demonstrate that IGGT4D outperforms existing streaming baselines while maintaining scalable online inference for long dynamic sequences.

Zheng-Yu Zou, Hao Li, Kuixuan Jiao et al. · arXiv.org · 1 citation

Preprint Aug 2026

Faster-WAM: Efficient Inference-Time Future Conditioning for Robust World Action Models

Faster-WAM introduces a sparse future-conditioning framework that computes future representations once and selectively reuses them throughout action denoising, and proposes SparseMoT to replace ubiquitous layer-wise fusion with selective video-action interaction at a compact subset of network stages, and Interval KV-Fu...

Weiheng Zhao, Haoyi Jiang, Xin Shi et al. · 10 citations