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Haoning Wu

Shanghai Jiao Tong University

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Preprint Jul 2026

ST-WAM: Semantic-Temporal World Action Model for Robust Manipulation under Visual Distribution Shifts

Semantic-Temporal WAM (ST-WAM) is proposed to improve action robustness by using DINOv3 as a shared semantic representation for future prediction and history retrieval while retaining fine-grained VAE dynamics, demonstrating that semantic-temporal modeling effectively complements pixel-generative dynamics for robust manipulation.

Mingxin Wang, Bin Hu, Bin Qian et al. · 1 citation