Learning Skills from Historical Action Trajectories: Action Experience Dictionary for World Action Models

arXiv:2609.40219 · cs.CV, cs.AI · Submitted 2026-09-30 · Read on arXiv

cs.CV, cs.AI

Submitted: 2026-09-30

Updated: 2026-10-02

Terminology

• Embeddings — 58× in this paper · explained in 2 episodes
• Action Experience Dictionary — 18× in this paper
• Ablation — 8× in this paper · explained in 1 episode
• Benchmark — 8× in this paper · explained in 2 episodes
• Tokenization — 5× in this paper · explained in 2 episodes
• Aggregation — 4× in this paper · explained in 1 episode
• Generalization — 4× in this paper · explained in 13 episodes
• Ablation Studies — 3× in this paper · explained in 1 episode
• Action Flow — 3× in this paper · explained in 1 episode
• Robustness — 3× in this paper · explained in 5 episodes
• World Model — 3× in this paper · explained in 7 episodes
• Ablation study — 2× in this paper · explained in 1 episode
• Fine-Tuning — 2× in this paper · explained in 5 episodes
• Flow Matching — 2× in this paper · explained in 8 episodes
• Transformer — 2× in this paper · explained in 2 episodes
• ANALYSIS OF MOTION-AWARE TRANSITION — 1× in this paper
• Action Space — 1× in this paper · explained in 1 episode
• Benchmarking — 1× in this paper · explained in 3 episodes
• Catastrophic Forgetting — 1× in this paper · explained in 5 episodes
• Compositional Generalization — 1× in this paper · explained in 4 episodes
• Consistency — 1× in this paper · explained in 3 episodes
• Decode — 1× in this paper · explained in 2 episodes
• Feature Extraction — 1× in this paper · explained in 2 episodes
• Foundation Model — 1× in this paper · explained in 3 episodes
• Foundation Models — 1× in this paper · explained in 7 episodes
• Generative AI — 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
• Redundancy — 1× in this paper · explained in 2 episodes
• VLA Models — 1× in this paper · explained in 3 episodes
• Vision Language Action — 1× in this paper
• Vision-Language-Action (VLA) Models — 1× in this paper · explained in 2 episodes

Sources

• Feedback World Model Enables Precise Guidance of Diffusion Policy
• FLASH: Efficient Visuomotor Policy via Sparse Sampling
• 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
• DeepSeek-V3 Technical Report
• Vision Pretraining for Dense Spatial Perception
• Wan: Open and Advanced Large-Scale Video Generative Models
• Llama 2: Open Foundation and Fine-Tuned Chat Models
• Qwen3 Technical Report
• LiLa-WAM: Lightweight Latent Reasoning World-Action Model for Robotic Manipulation
• Fast-WAM: Do World Action Models Need Test-time Future Imagination?

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