Keep the Future, Drop the Rollout: RIFT for World Action Models
World action models (WAMs) condition robot actions on predicted futures, but iterative video rollout increases deployment latency. We ask whether action generation requires the evolving rollout trajectory or only its future representation. Across four WAMs on 40 simulated robotic manipulation tasks, paired closed-loop interventions show that blocking access to the future cache or reassigning its values changes execution and reduces success. Yet in the evaluated co-denoising settings, reusing one fixed final-clean key/value (K/V) cache throughout action denoising nearly preserves unmodified execution, with $1.7$--$1.9$ cm end-effector average displacement error. Obtaining this cache still ...
| Authors | Chushan Zhang, Jinguang Tong, Xuesong Li et al. |
|---|---|
| Primary category | cs.RO |
| Published | 12 August 2026 |
| Last updated at source | 25 September 2026 |
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