ReSync: Re-Aligning the Two Clocks of Asynchronous World-Action Models

arXiv:2609.33944 · cs.RO · Submitted 2026-09-27 · Read on arXiv

cs.RO

Submitted: 2026-09-27

Updated: 2026-09-27

Code: https://github.com/sharinka0715/X-WAM

Terminology

• Benchmark — 6× in this paper · explained in 2 episodes
• AUC — 5× in this paper · explained in 2 episodes
• Consistency — 4× in this paper · explained in 3 episodes
• Fine-Tuning — 3× in this paper · explained in 5 episodes
• Verification — 3× in this paper · explained in 2 episodes
• In Conference on Robot Learning — 2× in this paper
• In International Conference on Learning Representations — 2× in this paper
• Verifier — 2× in this paper · explained in 2 episodes
• Ablation — 1× in this paper · explained in 1 episode
• Adaptive Scheduler — 1× in this paper · explained in 1 episode
• Diffusion Model — 1× in this paper · explained in 8 episodes
• Diffusion Models — 1× in this paper · explained in 6 episodes
• Generative Model — 1× in this paper · explained in 2 episodes
• Test-time Scaling — 1× in this paper · explained in 2 episodes
• Tokenization — 1× in this paper · explained in 2 episodes
• Transformer — 1× in this paper · explained in 2 episodes

Sources

• $\pi_0$: A Vision-Language-Action Flow Model for General Robot Control
• RT-1: Robotics Transformer for Real-World Control at Scale
• RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Control
• GR-2: A Generative Video-Language-Action Model with Web-Scale Knowledge for Robot Manipulation
• Drift is a Sampling Error: SNR-Aware Power Distributions for Long-Horizon Robotic Planning
• RoboTwin 2.0: A Scalable Data Generator and Benchmark with Strong Domain Randomization for Robust Bimanual Robotic Manipulation
• Learning Universal Policies via Text-Guided Video Generation
• Unified 4D World Action Modeling from Video Priors with Asynchronous Denoising
• Video Prediction Policy: A Generalist Robot Policy with Predictive Visual Representations
• NoiseGate: Learning Per-Latent Timestep Schedules as Information Gating in World Action Models
• VIMA: General Robot Manipulation with Multimodal Prompts
• DROID: A Large-Scale In-The-Wild Robot Manipulation Dataset
• RoboMonkey: Scaling Test-Time Sampling and Verification for Vision-Language-Action Models
• ELASTIC: Efficiently Learning to Adaptively Scale Test-Time Compute for Generative Control Policies
• BAT-Nav: Budget-Aware Arbitration and Termination for Long-Horizon Semantic Navigation
• MimicGen: A Data Generation System for Scalable Robot Learning using Human Demonstrations
• Open X-Embodiment: Robotic Learning Datasets and RT-X Models
• T-Stitch: Accelerating Sampling in Pre-Trained Diffusion Models with Trajectory Stitching
• SANTS: A State-Adaptive Scheduler for World Action Models
• Evolving Cache Schedules for Fast Diffusion Policy Inference

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