Author

Xueyuan Wei

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Preprint Sep 2026

InternW0-$\Delta$: A World Action Model Bridging Predictive Dynamics and Actions with 20K+ Hours of Open Data

World Action Models (WAMs) jointly model visual dynamics and action generation for generalist robot manipulation. A central challenge is to integrate priors from large-scale pretrained models---including visual dynamics, scene semantics, geometry, and motion---into a unified framework for robot action generation. We in...

Xing-Yu Miao, Zi-Zun Li, Bao-Le Fang et al. · 0 citations

Jul 2026

InternVLA-A1.5: Unifying Understanding, Latent Foresight, and Action for Compositional Generalization

InternVLA-A1.5 is presented, which builds the policy on a native VLM backbone that keeps training on VQA and subtask prediction, and attaches a lightweight unified expert for continuous action generation, and achieves the best overall results on all six simulation benchmarks.

Haoxiang Ma, Junhao Cai, Xiaoxu Xu et al. · arXiv.org · 10 citations · ⚡1

Preprint Jul 2026

Cortex: A Bidirectionally Aligned Embodied Agent Framework for Long-horizon Manipulation

Cortex is introduced, a bidirectionally aligned embodied agent framework with a customized planning interface that conveys executable and tractable subtask plans from high-level VLM to low-level VLA and enables zero-shot completion of unseen real-world long-horizon tasks.

Jiaqi Peng, Xiqian Yu, Delin Feng et al. · 1 citation