Author

Fan Yang

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Preprint Aug 2026

LiLa-WAM: Lightweight Latent Reasoning World-Action Model for Robotic Manipulation

LiLa-WAM is proposed, a lightweight world-action model that reasons about the future in a compact latent space and can be trained end-to-end on a single 24GB GPU and the Visual Transition Token (VTT), a language-free task representation that encodes each task as a direction in visual feature space.

Fan Yang, Yu-Ting Su, Xiaobo Wang et al. · 3 citations