Author

Wen-Rui Bao

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Preprint Sep 2026

DeltaWAM: Change-Centric Visual Foresight via Delta Tokens for an Efficient World-Action Model

World-Action Models (WAMs) offer visual foresight for robotic manipulation, but pixel-space models repeatedly reconstruct entire future scenes, incurring high computational cost and spatio-temporal redundancy. In physical manipulation, consecutive frames often share most of their visual context; the changes between the...

Tian-Yun Jiang, Wen-Rui Bao, Bing-Xin Xu et al. · 0 citations

Preprint Aug 2026

Surgical WAM: A World-Action Model for Data-Efficient Surgical Robot Learning

Learning reliable surgical manipulation policies is bottlenecked by the scarcity of action-labeled demonstrations: teleoperated surgical robot (e.g., dVRK) trajectories with synchronized kinematics are costly to collect, while surgical tasks demand precise contact handling, long-horizon reasoning, and bimanual coordina...

Wenrui Bao, Tianyun Jiang, Zhiben Chen et al. · 0 citations