Author

Yi-Shuo Cheng

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Preprint Sep 2026

Language-Forcing: Advancing Humanoid Loco-Manipulation via Semantic Alignment of Whole-Body World Action Models

World Action Models (WAMs) jointly predict robot actions and future observations. However, their visual prediction objectives do not explicitly distinguish task-relevant transitions from incidental scene changes. For whole-body policies, this distinction matters because task progress depends on coordinated changes in b...

Yan-Jun Li, Jia-Rui Ye, Wei-Yu Guo et al. · 0 citations