Direct Experience World-Model Optimization: Learning the World Beyond Action Imitation
World-Action Models (WAMs) couple action generation with predictions of how physical interactions unfold. However, current post-deployment learning paradigms typically improve behavior without requiring better world predictions. Especially in dexterous manipulation, small execution errors can compound in high-dimensional action spaces, hindering policy improvement and pushing interactions beyond the world model's training distribution. Motivated by this, we propose Direct Experience World-Model Optimization (DEWO), a post-deployment learning paradigm for WAMs that, alongside action imitation, refines world representations through visual experience to better condition action generation. Sp...
| Authors | Xiangcheng Zhan, Zirui Chen, Yicheng Zhao et al. |
|---|---|
| Primary category | cs.AI |
| Published | 29 September 2026 |
| Last updated at source | 29 September 2026 |
Silytics shows public metadata from arXiv and links to the original. Information may be incomplete or out of date. Last refreshed 17 October 2026. Licenses and terms of the original apply to the work itself. Not financial, legal or professional advice.