WholeBodyWAM: Learning Whole-Body World Action Models with Scalable Motion Priors

arXiv:2609.18197 · cs.RO · Submitted 2026-09-16 · Read on arXiv

cs.RO

Submitted: 2026-09-16

Updated: 2026-10-01

Project page: https://zbzyjya.github.io/WholeBodyWAM

Terminology

• Embeddings — 10× in this paper · explained in 2 episodes
• Transformer — 9× in this paper · explained in 2 episodes
• Foundation Model — 7× in this paper · explained in 3 episodes
• Generalization — 6× in this paper · explained in 13 episodes
• Foundation Models — 5× in this paper · explained in 7 episodes
• Action Space — 4× in this paper · explained in 1 episode
• Ablation — 3× in this paper · explained in 1 episode
• Benchmark — 2× in this paper · explained in 2 episodes
• Distribution Shift — 2× in this paper · explained in 6 episodes
• Flow Matching — 2× in this paper · explained in 8 episodes
• Generative Model — 2× in this paper · explained in 2 episodes
• Joint Attention — 2× in this paper · explained in 2 episodes
• Tokenization — 2× in this paper · explained in 2 episodes
• Two-stage training — 2× in this paper · explained in 2 episodes
• World Model — 2× in this paper · explained in 7 episodes
• Action Flow — 1× in this paper · explained in 1 episode
• Consistency — 1× in this paper · explained in 3 episodes
• Diffusion Model — 1× in this paper · explained in 8 episodes
• Diffusion Models — 1× in this paper · explained in 6 episodes
• Fine-Tuning — 1× in this paper · explained in 5 episodes
• Generative Modeling — 1× in this paper · explained in 3 episodes
• Generative Models — 1× in this paper · explained in 2 episodes
• Grounding — 1× in this paper · explained in 3 episodes
• Predictive Modeling — 1× in this paper · explained in 2 episodes
• Robustness — 1× in this paper · explained in 5 episodes
• Temporal consistency — 1× in this paper · explained in 2 episodes
• Transferability — 1× in this paper · explained in 4 episodes

Sources

• Humanoid-VLA: Towards Universal Humanoid Control with Visual Integration
• GR00T N1: An Open Foundation Model for Generalist Humanoid Robots
• HEX: Humanoid-Aligned Experts for Cross-Embodiment Whole-Body Manipulation
• Fast-WAM: Do World Action Models Need Test-time Future Imagination?
• $\tau_0$-WM: A Unified Video-Action World Model for Robotic Manipulation
• MotionWAM: Towards Foundation World Action Models for Real-Time Humanoid Loco-Manipulation
• RoboMIND: Benchmark on Multi-embodiment Intelligence Normative Data for Robot Manipulation
• RoboMIND 2.0: A Multimodal, Bimanual Mobile Manipulation Dataset for Generalizable Embodied Intelligence
• Mixture-of-Transformers: A Sparse and Scalable Architecture for Multi-Modal Foundation Models
• Towards a Unified Understanding of Robot Manipulation: A Comprehensive Survey
• Retargeting Matters: General Motion Retargeting for Humanoid Motion Tracking
• Wan: Open and Advanced Large-Scale Video Generative Models
• Causal World Modeling for Robot Control

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