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CWAM (Causal WAM), which incorporates the sparsity constraint into a pretrained WAM by adding a sparse routing path to its action head, with the world modeling objective remaining unchanged, is proposed.
The Semantically Rich World Model is presented, a task-conditioned world model structured around five functional roles: gripper, target, goal, relation, and phase, which transforms object-centric prediction into a semantic interface linking visual dynamics with planning-oriented decision making.
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