SkelWAM: A Skeleton-Guided World-Action Model for Zero-Shot Cross-Embodiment Manipulation

arXiv:2609.21983 · cs.RO · Submitted 2026-09-18 · Read on arXiv

cs.RO

Submitted: 2026-09-18

Updated: 2026-09-18

Code: https://github.com/Wan-Video/Wan2.2

Terminology

• Benchmark — 8× in this paper · explained in 2 episodes
• Adaptation — 7× in this paper · explained in 1 episode
• Ablation — 6× in this paper · explained in 1 episode
• Affordance — 5× in this paper · explained in 1 episode
• Calibration — 4× in this paper · explained in 7 episodes
• Transformer — 4× in this paper · explained in 2 episodes
• Fine-Tuning — 2× in this paper · explained in 5 episodes
• Generalization — 2× in this paper · explained in 13 episodes
• World Model — 2× in this paper · explained in 7 episodes
• Aggregation — 1× in this paper · explained in 1 episode
• Benchmarking — 1× in this paper · explained in 3 episodes
• Consistency — 1× in this paper · explained in 3 episodes
• Cross-Embodiment Transfer — 1× in this paper · explained in 2 episodes
• Diffusion Model — 1× in this paper · explained in 8 episodes
• Diffusion Models — 1× in this paper · explained in 6 episodes
• Embeddings — 1× in this paper · explained in 2 episodes
• Flow Matching — 1× in this paper · explained in 7 episodes
• Foundation Model — 1× in this paper · explained in 3 episodes
• Generative Model — 1× in this paper · explained in 2 episodes
• Generative Modeling — 1× in this paper · explained in 3 episodes
• Generative Models — 1× in this paper · explained in 2 episodes
• Redundancy — 1× in this paper · explained in 2 episodes
• Zero-Shot Transfer — 1× in this paper · explained in 3 episodes

Sources

• G0.5: One Autoregressive Stream for Robot Reasoning and Action
• One-Policy-Fits-All: Geometry-Aware Action Latents for Cross-Embodiment Manipulation
• Latent Action Diffusion for Cross-Embodiment Manipulation
• X-Diffusion: Training Diffusion Policies on Cross-Embodiment Human Demonstrations
• TopoRetarget: Interaction-Preserving Retargeting for Dexterous Manipulation
• Fast-WAM: Do World Action Models Need Test-time Future Imagination?
• LaWAM: Latent World Action Models for Efficient Dynamics-Aware Robot Policies
• Consistency-Driven Dual LSTM Models for Kinematic Control of a Wearable Soft Robotic Arm
• Wan: Open and Advanced Large-Scale Video Generative Models
• robosuite: A Modular Simulation Framework and Benchmark for Robot Learning

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