Author

Shenji Wan

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#artificial intelligence Preprint Oct 2026

De-Diffusing WAMs: Action-Sufficient Direct Prediction for Robot Control

Cascade world-action models (WAMs) use predicted visual futures to condition robot actions, but inherit costly iterative inference from diffusion-pretrained experts. We ask what a single-step predicted future must preserve to support accurate single-step action prediction. In the evaluated WAM, resampling video noise h...

Shao-Yi Zheng, Zhong-Tao Jiang, Yue Peng et al. · 0 citations

Jul 2026

TFP: Temporally Conditioned Memory-Fusion Policies for Visuomotor Learning

Temporally Conditioned Memory-Fusion Policies (TFP), a lightweight memory-action framework for VLA backbones, is introduced and suggests that compact, event-sensitive memory dynamics can improve VLA policies under occlusion, visual perturbation, and stage-dependent task structure.

Yushen Liang, Yue Peng, Baosheng Jin et al. · arXiv.org · 0 citations