Author

Xi Wang

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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

#artificial intelligence Preprint Oct 2026

Parallel Predictive World Models for Accurate and Efficient Long-Horizon Planning

Long-horizon world-model planning typically relies on autoregressive rollouts, where predicted states are repeatedly fed back into the model. This preserves temporal structure but creates a horizon-length sequential path and exposes later predictions to recursive decoded-state feedback. We introduce Parallel Predictive...

Wan-Jin Feng, Bao-Bing Zhang, Ao Yu et al. · 0 citations