Author

David Yuan

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Preprint Oct 2026

OpenWAM: An Open Framework for Composable World-Action Models

World-action models (WAMs) couple future prediction with robot control, yet existing systems often vary the video backbone, interaction structure, supervision, and inference procedure simultaneously, making their design choices difficult to compare. We introduce OPENWAM, an open world-action modeling framework built ar...

Heng Yu, David Yuan, Ju-Ze Zhang et al. · 0 citations

#machine learning Preprint Oct 2026

Mulligan: Performance-Guided Data Collection for Efficient On-Robot Learning

Learning from human demonstrations is a reliable way to teach robots new tasks, but the gains from each additional demonstration shrink as the policy improves. Continued improvement can instead come from supervised deployment, where an operator places the objects and intervenes when the policy fails. We ask how to maxi...

Lars Ankile, Perry Dong, R. Bhowmik et al. · 0 citations