AquaWAM: A Dynamics-aware World Action Model for Underwater Embodied Agents
World Action Models (WAMs) are becoming increasingly important and useful for embodied intelligence, as they enable robots to anticipate the consequences of candidate actions before interacting with the physical environment. However, underwater robots are usually subject to passive dynamics, such as inertia, buoyancy, hydrodynamic drag, and persistent drift, which can continue to affect the vehicle even after an action is completed. Existing WAMs, which primarily predict action-conditioned visual observations, are not explicitly designed to capture such passive motion dynamics. In this paper, we present AquaWAM, the first World Action Model designed for underwater embodied agents. Instead...
| Authors | Cunhao Zhu, Yifeng Wang, Dongliang Xu et al. |
|---|---|
| Primary category | cs.RO |
| Published | 27 September 2026 |
| Last updated at source | 29 September 2026 |
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