DeltaWAM: Delta World Action Models for Bimanual Manipulation

arXiv:2609.28811 · cs.CV, cs.RO · Submitted 2026-09-23 · Read on arXiv

cs.CV, cs.RO

Submitted: 2026-09-23

Updated: 2026-09-23

Terminology

• Ablation — 8× in this paper · explained in 1 episode
• Streaming Delta Memory — 8× in this paper
• Robustness — 7× in this paper · explained in 5 episodes
• World Model — 5× in this paper · explained in 7 episodes
• Adaptation — 3× in this paper · explained in 1 episode
• Flow Matching — 3× in this paper · explained in 7 episodes
• Transformer — 3× in this paper · explained in 2 episodes
• Action-Conditioned Dynamics — 2× in this paper · explained in 1 episode
• Diffusion Model — 2× in this paper · explained in 8 episodes
• Diffusion Models — 2× in this paper · explained in 6 episodes
• KV cache — 2× in this paper · explained in 3 episodes
• Ablation Studies — 1× in this paper · explained in 1 episode
• Anchor Tokens — 1× in this paper · explained in 1 episode
• Computational overhead — 1× in this paper · explained in 2 episodes
• Foundation Model — 1× in this paper · explained in 3 episodes
• Generalization — 1× in this paper · explained in 13 episodes
• Generative Modeling — 1× in this paper · explained in 3 episodes
• Joint Attention — 1× in this paper · explained in 2 episodes

Sources

• GR-2: A Generative Video-Language-Action Model with Web-Scale Knowledge for Robot Manipulation
• Fast-WAM: Do World Action Models Need Test-time Future Imagination?
• GigaWorld-Policy: An Efficient Action-Centered World--Action Model
• GigaWorld-Policy-0.5: A Faster and Stronger WAM Empowered by AutoResearch
• DreamDojo: A Generalist Robot World Model from Large-Scale Human Videos
• Wan: Open and Advanced Large-Scale Video Generative Models
• RoboTwin 2.0: A Scalable Data Generator and Benchmark with Strong Domain Randomization for Robust Bimanual Robotic Manipulation
• Generative Control as Optimization: Time Unconditional Flow Matching for Adaptive and Robust Robotic Control
• $\pi_{0.5}$: a Vision-Language-Action Model with Open-World Generalization
• RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation

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