Author

Shanshuai Yuan

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Preprint Aug 2026

Latent Action as Intention Enables Efficient Future Imagination for World Action Models

World action models (WAMs) improve robot control by modeling how observations evolve, but generating future observations at test time incurs substantial latency. Fast-WAM removes this process for efficiency; however, our matched implementations show lower generalization for Fast-WAM than for future-aware alternatives,...

Xiang Li, Yu-Peng Zheng, Song-En Gu et al. · 6 citations · ⚡2