Yun-Tian Deng

DualWAM: Dual-System World Action Models for Asynchronous Global Planning and Local Refinement

World Action Models (WAMs) jointly generate robot actions and predict future world states, transferring priors from video pretraining to robot control. However, future visual prediction is computationally expensive, so existing WAMs often rely on long action chunks to amortize inference cost across control steps, at th...