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#artificial intelligence Preprint Sep 2026

Staircase Policy: Streaming Inference for World-Action Models with Large Action Chunks

World-Action Models (WAMs) improve robotic manipulation by conditioning action generation on predicted future observations, but future prediction adds further inference overhead to already expensive iterative action generation. Action chunking can amortize this cost over multiple actions, yet performance degrades over...

Guoheng Sun, Chen Chen, Jin Wang et al. · 0 citations
#artificial intelligence Preprint Sep 2026

Scope-WM: Scoped Computation for Efficient Visual World Models

Visual world models enable robotic planning by predicting future observations, but dense latent-state propagation and sample-intensive trajectory optimization incur high inference latency and peak memory usage, limiting real-time deployment on resource-constrained platforms. Existing sparse world-model acceleration met...

Chun-Zheng Li, Ze-Sheng Jia, Hong-Da Zhang et al. · 0 citations

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