Author

Haotao Lu

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Preprint Aug 2026

SelfWAM: A Self-Grounded Unified World Action Model for Fast Robot Control

SelfWAM is introduced, a unified self-grounded WAM built on a modality-specialized Mixture-of-Transformers (MoT) architecture that jointly predicts actions, action-conditioned future RGB frames, and robot self-masks, thereby grounding future prediction in the robot's visible body and its action-induced motion.

Bikang Pan, Fan Liu, Haotao Lu et al. · 1 citation