WAM4D: Fast 4D World Action Model via Spatial Register Tokens
World action models (WAMs) have recently shown promise in jointly modeling future observations and executable robot actions. However, most existing WAMs still operate in 2D video or latent spaces, where visually plausible rollouts miss the 3D spatial constraints and occluded contact geometry required for precise manipulation. While geometric foundation models offer strong priors for recovering dense 3D structure and motion from visual observations, forcing WAMs to predict the dense 4D representation introduces costly geometric decoding and slows down causal action generation. To address the trade-off, we present WAM4D, a fast 4D world action model that uses lightweight spatial register to...
| Authors | Ying Li, Xiaobao Wei, Jiajun Cao et al. |
|---|---|
| Primary category | cs.CV |
| Published | 12 June 2026 |
| Last updated at source | 7 July 2026 |
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