Author

Sen Wang

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Preprint Sep 2026

Rethinking Representations for World-Action Modeling

World-action models jointly learn robot policies and predict future observations, making the representation space an interface between control and prediction. We study the design of this space through controlled comparisons, finding that neither reconstruction fidelity nor pre-trained perceptual features alone ensure e...

Hao-Yi Jiang, Liu Liu, Xin-Jiang Wang et al. · 1 citation

Preprint Aug 2026

$\tau_0$-VLA: a Hierarchical Robot Foundation Model with World-Model-Guided Test-Time Computation

Across in-domain and distribution-shifted settings, allocating additional test-time computation substantially improves next-subtask prediction accuracy, and these gains translate into higher closed-loop success on long-horizon robot manipulation tasks.

Xiaowei Cai, Yunuo Cai, Bing Chen et al. · 4 citations · ⚡1