Author

Guibo Zhu

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Preprint Aug 2026

HarnessWAM: Bridging Prediction and Deliberation in World Action Models

Results demonstrate that model-external structured state maintenance and closed-loop agentic decision making can effectively extend the local control capabilities of WAMs into embodied task execution that is plannable, verifiable, and recoverable.

Zhao-Peng Gu, Bing-Ke Zhu, Tianxin Lin et al. · 5 citations