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

arXiv:2609.24868 · cs.RO · Submitted 2026-09-21 · Read on arXiv

cs.RO

Submitted: 2026-09-21

Updated: 2026-09-21

Terminology

• Ablation — 7× in this paper · explained in 1 episode
• World Model — 6× in this paper · explained in 7 episodes
• Closed-Loop Control — 3× in this paper · explained in 3 episodes
• Quantization — 3× in this paper · explained in 12 episodes
• Action Chunking — 2× in this paper · explained in 1 episode
• Alignment — 2× in this paper · explained in 1 episode
• Decoupling — 2× in this paper · explained in 2 episodes
• Diffusion Model — 2× in this paper · explained in 8 episodes
• Generalization — 2× in this paper · explained in 13 episodes
• Universal Manipulation Interface — 2× in this paper
• Accuracy — 1× in this paper · explained in 1 episode
• Action Flow — 1× in this paper · explained in 1 episode
• Communication Overhead — 1× in this paper · explained in 2 episodes
• Core — 1× in this paper · explained in 2 episodes
• Diffusion Models — 1× in this paper · explained in 6 episodes
• Embodied AI — 1× in this paper · explained in 2 episodes
• Exposure Bias — 1× in this paper · explained in 2 episodes
• Fine-Tuning — 1× in this paper · explained in 5 episodes
• Foundation Model — 1× in this paper · explained in 3 episodes
• Grounding — 1× in this paper · explained in 3 episodes
• Latent Dynamics — 1× in this paper · explained in 2 episodes
• Latent Reasoning — 1× in this paper · explained in 2 episodes
• Latent Representation — 1× in this paper · explained in 2 episodes
• Latent Representations — 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
• Trace — 1× in this paper · explained in 2 episodes
• Zero-Shot Generalization — 1× in this paper · explained in 5 episodes

Sources

• Latent Reasoning VLA: Latent Thinking and Prediction for Vision-Language-Action Models
• Gen2Act: Human Video Generation in Novel Scenarios enables Generalizable Robot Manipulation
• Real-Time Execution of Action Chunking Flow Policies
• AHA-WAM:Asynchronous Horizon-Adaptive World-Action Modeling with Observation-Guided Context Routing
• GR-2: A Generative Video-Language-Action Model with Web-Scale Knowledge for Robot Manipulation
• Diffusion Forcing: Next-token Prediction Meets Full-Sequence Diffusion
• ABot-M0.5: Unified Mobility-and-Manipulation World Action Model
• Diffusion Policy: Visuomotor Policy Learning via Action Diffusion
• Learning Universal Policies via Text-Guided Video Generation
• HarmoWAM: Harmonizing Generalizable and Precise Manipulation via Adaptive World Action Models
• Unified 4D World Action Modeling from Video Priors with Asynchronous Denoising
• Action ControlNet: A Lightweight Delay-Aware Adapter for Smooth Asynchronous Control in Vision-Language-Action Models
• Classifier-Free Diffusion Guidance
• Video Prediction Policy: A Generalist Robot Policy with Predictive Visual Representations
• Self Forcing: Bridging the Train-Test Gap in Autoregressive Video Diffusion
• DROID: A Large-Scale In-The-Wild Robot Manipulation Dataset
• Cosmos Policy: Fine-Tuning Video Models for Visuomotor Control and Planning
• Causal World Modeling for Robot Control
• Light-WAM: Efficient World Action Models with State-Fusion Action Decoding
• Dreamitate: Real-World Visuomotor Policy Learning via Video Generation

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