Author

Ziwen Hu

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Preprint Aug 2026

Faster-WAM: Do World Action Models Need Deep Action Modules?

Faster-WAM, an instantiation of DoT for WAMs, which docks a single-layer action head onto a 30-layer video backbone, achieves competitive performance on LIBERO and RoboTwin 2.0 while demonstrating strong out-of-distribution generalization on LIBERO-Plus.

Liheng Ma, Rui Yang, Zhan-Guang Zhang et al. · 4 citations