WAM-OPD: Sharpening World Action Models via On-Policy Distillation
Pretrained world action models (WAMs) provide generalist capabilities across diverse robotic manipulation tasks, yet improving target-task performance to an expert level without degrading pretrained skills remains challenging. We explore on-policy distillation (OPD) for WAMs and introduce WAM-OPD. WAM-OPD inherits the...
P. Liu, Xiao-Han Lei, Shi-Qi Zhang et al.
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