CoWAM: Coordination Contracts for Selective Policy Intervention with WAMs
World Action Models (WAMs) augment robot policies with action-conditioned predicted futures, but a plausible future alone does not justify changing the action that a bimanual policy would execute. We present CoWAM, a selective intervention layer that expresses synchronization, role compatibility, and collision convergence as coordination contracts. Each contract combines typed admissibility checks with event-conditioned verification and calibrated intervention gates. CoWAM preserves the nominal action unless an alternative satisfies every active obligation and provides a clear, low-risk improvement; when the nominal action is also inadmissible, it invokes a predefined abstention fallback....
| Authors | Shuaijun Liu, Qifu Wen, Shuyang Hao et al. |
|---|---|
| Primary category | cs.RO |
| Published | 3 August 2026 |
| Last updated at source | 3 August 2026 |
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