DELE-w0.5: Inferring Action from Future Latent State for Robotic Manipulation
World-Action Models (WAMs) build robot control on video-generation backbones, which jointly predict dense future visual trajectories and robot actions. We argue that video generation is an unnecessary intermediate objective for world-action modeling. For robotic manipulation, the goal of a world model is not to reproduce how the world looks at every intermediate moment, but to predict the state that the world will reach after an action is executed. The intermediate frames only describe the visual transition between physical states, which consumes substantial model capacity and computation, but do not directly specify the physical outcome that the robot action is intended to produce. In th...
| Authors | Fenghao Lei, Zhixiong Huang, Long Yang et al. |
|---|---|
| Primary category | cs.RO |
| Published | 22 August 2026 |
| Last updated at source | 31 August 2026 |
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