Author

Xu Yang

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Preprint Sep 2026

From World Models to World Action Models: Rethinking Next-State Prediction

Predicting the next state is a core paradigm of World Models for modeling physical dynamics, emphasizing prediction fidelity. As World Models evolve into World-Action Models (WAMs), existing methods still fix the next state before training as RGB, a single latent feature, or a static combination of predefined targets,...

Ting-Yu Yuan, Zi-Ming Ji, Biao-Liang Guan et al. · 1 citation

Preprint Sep 2026

Object-Centric Conditioning for Visuomotor Flow Matching

Robot visuomotor policies are commonly formulated as autoregressive, diffusion-based, or more recently, flow matching models. Among them, Action-to-Action (A2A) flow matching improves inference efficiency by initializing generation from historical action priors rather than stochastic noise. However, stale historical mo...

Ji-Jie Li, Xu Yang, Jun-Hong Zou et al. · 0 citations