Author

Péter Karkus

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Preprint Oct 2026

CtrlWAM: Controllable World Action Models with Aligned Intent and Foresight

World action models (WAMs) jointly predict actions (intent) and visual future (foresight). Standard training adds noise to recorded actions and video simultaneously, but such training paradigms introduce a mismatch: perturbed actions imply counterfactual future visual, while the noised video remains tied to the GT reco...

Chensheng Peng, Wen-Hao Ding, Ran Tian et al. · 0 citations

Preprint Sep 2026

Monkey See, Can Monkey Do? A Benchmark for Evaluating Robot Skill Learning by Observation

Learning from Observation (LfO) is a fundamental robotic capability that replicates how humans and animals socially learn from each other. Beyond its biological parallels, this modality provides a practical solution for data scaling in sample-inefficient and data-starved domains like robotics. Recent work has demonstra...

Wei-Wei Gu, Anmol Gupta, Anant Sah et al. · 0 citations