Author

Hao-Ran Wen

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Preprint Sep 2026

Streaming-WAM: Action-Conditioned World-Action Model for Asynchronous Robot Manipulation

World action models (WAMs) that use future visual prediction at inference time incur substantial generation costs. Asynchronous execution reduces waiting by overlapping inference with robot motion, but visual predictions used for subsequent action generation must anticipate the effects of actions already scheduled for...

Xu-Yao Huang, Yi-Xuan Wang, Zeng-Yao Ye et al. · 0 citations

Preprint Sep 2026

MachEmbodied-U0: Unified Understanding and Generation Model for Embodied Intelligence

General-purpose robot control requires models to understand task intent, identify where to interact, capture how the scene evolves, and generate precise actions. Vision-language-action models provide strong semantic priors but typically do not explicitly model scene dynamics, while world-action models couple visual pre...

Hao-Ran Wen, Wen-Fu Wang, Kun-Song Shi et al. · 1 citation