FlowWAM: Optical Flow as a Unified Action Representation for World Action Models
World Action Models (WAMs) are able to leverage pretrained video generators for both world modeling and action prediction. However, directly leveraging such video generators for control raises a new challenge: how to represent actions in a suitable form that aligns with pretrained video generators while carrying enough motion cues for accurate control. Existing numerical actions fail to satisfy the former, and prior visual action representations overlook the temporal motion structure across frames. We address this issue with FlowWAM, a dual-stream diffusion framework that adopts optical flow as a unified, video-native action representation. Flow videos share the same format as RGB videos ...
| Authors | Yixiang Chen, Peiyan Li, Yuan Xu et al. |
|---|---|
| Primary category | cs.RO |
| Published | 14 July 2026 |
| Last updated at source | 14 July 2026 |
Models and datasets referencing this paper
- YixiangChen/FlowWAM_RoboTwinDataset
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