Preprint
Aug 2026
Surgical WAM: A World-Action Model for Data-Efficient Surgical Robot Learning
The Surgical World-Action Model is introduced, a unified generative model built on Cosmos Policy that jointly predicts future endoscopic observations and executable surgical robot action chunks and acts as a closed-loop, receding-horizon controller that executes a short prefix of each predicted action chunk and replans...
Wen-Rui Bao, Tian-Yun Jiang, Zhiben Chen et al.
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