Data-Free Continual Learning for World Action Model with Rectified Generative Replay
World action models (WAMs) built on pretrained video generation models adapt quickly to new robotic tasks, but they forget previously learned tasks under sequential fine-tuning. Experience replay (ER) mitigates such forgetting by rehearsing data of previous tasks, yet this data is often unavailable in robotics, where a policy is deployed as weights only and its training data is not shared along with it. In this work, we ask whether a WAM can achieve data-free continual learning by regenerating its own past. Our key observation is that a WAM can indeed autoregressively regenerate complete rollouts of previously learned tasks and replay them to mitigate forgetting. However, replaying such r...
| Authors | Kaipeng Fang, Hangxu Liu, Chaojian Shi et al. |
|---|---|
| Primary category | cs.RO |
| Published | 13 October 2026 |
| Last updated at source | 13 October 2026 |
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