Learning to Use Imagination: Progress-Conditioned Future Utilization for World Action Models
World Action Models (WAMs) extend Vision-Language-Action (VLA) models by incorporating future visual dynamics into action generation. However, existing WAMs often utilize imagined futures with limited adaptation to evolving execution progress, potentially introducing distracting or unreliable predictive cues. This limitation arises from two empirically identified forms of non-uniformity in future utility: (i) at the inter-progress level, the utility of imagined futures varies across execution stages as control demands change; and (ii) at the intra-progress level, individual future latents exhibit heterogeneous relevance within the same progress state. To address these limitations, we prop...
| Authors | Yijie Zhu, Zitong Yu, Wei Li et al. |
|---|---|
| Primary category | cs.CV |
| Published | 6 September 2026 |
| Last updated at source | 6 September 2026 |
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