Author

Frances Adelakun

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#machine learning Preprint Oct 2026

SmolWAM: A Latent World-Action Model for Robotic Manipulation on Edge Devices

SmolWAM is presented, a latent WAM that is derived from the 2B-parameter Cosmos Policy by keeping its pretrained trunk and rebuilding its inference interface: single-frame visual latents, cached text features that preserve the trunk's attention sinks, and 1,008 tokens from which actions and future visual latents are re...

Timi Owolabi, Hikmah Olawore, Frances Adelakun et al. · 0 citations