Author

Chunkai Yang

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Preprint Aug 2026

WorldToken: Time-First Sequence Modeling for Robotic Imitation Learning

WorldToken, a time-first policy instantiation that fuses multiview images, proprioception, and task conditioning within each policy timestep into one world token is introduced and its data-scaling and temporal-context behavior under the tested recipes are characterized.

Chunkai Yang, Andong Yang, Chao Gao · 0 citations