Author

Peiyuan Zhi

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Preprint Aug 2026

$\omega$-0: A Latent Predictive World Action Model for Concurrent Humanoid Loco-Manipulation

Real-world experiments demonstrate that a single $\omega$-0 model can produce smooth manipulate-while-moving behaviors and consistently outperform representative imitation learning, VLA, humanoid, and WAM baselines.

Zhe Li, Zhen-Zhen Zhang, Yang-Yang Wei et al. · 4 citations · ⚡1