LiLa-WAM: Lightweight Latent Reasoning World-Action Model for Robotic Manipulation
World-action modeling has emerged as a promising paradigm for robotic control, as it empowers models to go beyond reacting to observations and anticipate how a scene will evolve. However, existing WAMs often incur substantial computational overhead. Pixel-space methods often allocate substantial capacity to visual details that may not be directly relevant to control, while some latent-space methods require multi-stage training to construct the reasoning space. The resulting training cost can make such methods difficult to train under modest computational budgets. In this work, we propose LiLa-WAM, a lightweight world-action model that reasons about the future in a compact latent space and...
| Authors | Fan Yang, Yuting Su, Xiaobo Wang et al. |
|---|---|
| Primary category | cs.RO |
| Published | 4 August 2026 |
| Last updated at source | 4 August 2026 |
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