OpenWAM: An Open Framework for Composable World-Action Models
World-action models (WAMs) couple future prediction with robot control, yet existing systems often vary the video backbone, interaction structure, supervision, and inference procedure simultaneously, making their design choices difficult to compare. We introduce OPENWAM, an open world-action modeling framework built around a common causal robot-video foundation and configurable video-action interaction. Starting from Wan2.2-5B, we perform causal robot-video pretraining on over 10,000 hours of video, then integrate an action expert through a shared Mixture-of-Transformers architecture that supports joint, video-then-action, action-then-video, and decoupled generation. OPENWAM achieves high...
| Authors | Heng Yu, David D. Yuan, Juze Zhang et al. |
|---|---|
| Primary category | cs.RO |
| Published | 6 October 2026 |
| Last updated at source | 6 October 2026 |
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