Action-Conditioned World Models

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54 papers in the last four weeks, up 260% on the four weeks before. 0.5% of all new papers.

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LaWAM: Latent World Action Models for Efficient Dynamics-Aware Robot Policies
Jun 14, 2026Jialei Chen, Kai Wang, Kang Chen +9Latent Action Learning Action-Conditioned World Models
Jilin University · Zhongguancun Academy · Nankai University +4
Causal Object-Centric Models for Planning with Monte Carlo Tree Search
Jun 12, 2026Rodion Vakhitov, Leonid Ugadiarov, Alexey Skrynnik +1World Models World Model-Based Planning
MIRAI Moscow, Russia · CogAILab & MIRAI Moscow, Russia
FlowMo-WM: A World Model with Object Momentum and Hidden Ambient Drift
Jun 11, 2026Yitao Jiang, Luyang Zhao, Muhao Chen +1World Model Learning World Models for Robotics
Department of Computer Science Dartmouth College, Hanover, NH · Department of Electrical and Computer Engineering Clemson University, Clemson, SC · Department of Mechanical and Aerospace Engineering University of Houston, Houston, TX
Diffusion Transformer World-Action Model for AV Scene Prediction
Jun 11, 2026Ruslan Sharifullin, Benjamin Jiang, Kai Xi ChewAction-Conditioned Video Generation Diffusion Transformer
Stanford University
Making Foresight Actionable: Repurposing Representation Alignment in World Action Models
Jun 10, 2026Lu Qiu, Yizhuo Li, Yi Chen +3Action-Conditioned Video Generation Representation Learning
The University of Hong Kong · XPENG Robotics
HiMem-WAM: Hierarchical Memory-Gated World Action Models for Robotic Manipulation
Jun 9, 2026Xiaoquan Sun, Ruijian Zhang, Chen Cao +12Latent Action Learning Long-Horizon Robotic Manipulation
3Huazhong University of Science and Technology · 1The University of Hong Kong · 2INFIFORCE +3
BiWM: Advancing Open-Source Interactive Video World Models with Bidirectional Autoregression
Jun 8, 2026Shaohao Rui, Xiaofeng Mao, Zhanyu Zhang +5Action-Conditioned Video Generation Camera-Controlled Video Generation
LynnReal AI · Shanghai Innovation Institute · Shanghai Jiao Tong University +1
AHA-WAM:Asynchronous Horizon-Adaptive World-Action Modeling with Observation-Guided Context Routing
Jun 8, 2026Jisong Cai, Long Ling, Shiwei Chu +10Long-Horizon Robotic Manipulation World Models for Robotics
Shanghai Jiao Tong University · Shanghai AI Laboratory · Baidu AI Cloud +1
Echo-Memory: A Controlled Study of Memory in Action World Models
Jun 8, 2026Wayne King, Zeyue Xue, Yuxuan Bian +13Action-Conditioned Video Generation Video Diffusion Models
The University of Hong Kong · Joy Future Academy, JD · The Chinese University of Hong Kong +5
$ω$ -EVA: Envision, Verify, and Act with Latent Interactive World Models
Jun 8, 2026Zhenguo Sun, Yu Sun, Hande Huang +1Robot Policy Learning World Models for Robotics
C $^3$ ache: Accelerating World Action Models with Cross Inference Chunk Cache
Jun 8, 2026Weisen Zhao, Lam Nguyen, Zhicong Lu +1World Model Learning Action-Conditioned World Models
George Mason University · University of Central Florida
Dream-Tac: A Unified Tactile World Action Model for Contact-Rich Robot Manipulation
Jun 7, 2026Yunfan Lou, Yifan Ye, Yankai Fu +7World Models for Robotics Contact-Rich Robotic Manipulation
Peking University Beijing, China · Nanjing University Nanjing, China · State Key Laboratory of Multimedia Information Processing, School of Computer Science, Peking University Beijing, China
DisCo: World Models with Discrete Camera Motion Control
Jun 6, 2026Hongrui Huang, Junke Wang, Quanhao Li +2Action-Conditioned Video Generation Camera-Controlled Video Generation
1Fudan University
PiL-World: A Chunk-Wise World Model for VLA Policy-in-the-Loop Evaluation
Jun 4, 2026Chong Ma, Taiyi Su, Jian Zhu +4Action-Conditioned World Models Robotic Policy Evaluation
1Tongji University · 2AIRC, Midea Group
Discrete-WAM: Unified Discrete Vision-Action Token Editing for World-Policy Learning
Jun 4, 2026Ziyang Yao, Haochen Liu, Yuncheng Jiang +10Hierarchical Planning World Model Learning
Xiaomi EV
Flash-WAM: Modality-Aware Distillation for World Action Models
Jun 3, 2026Arman Akbari, Ci Zhang, Arash Akbari +6Video Diffusion Models Action-Conditioned World Models
1Northeastern University · University of Georgia · 3EmbodyX Inc.
OSCAR: Omni-Embodiment Action-Conditioned World Model for Robotics
Jun 3, 2026Zhuoyuan Wu, Jun GaoAction-Conditioned Video Generation Action-Conditioned World Models
Peking University · University of Michigan · NVIDIA
A 3D Isovist World Model -- Revealing a City's Unseen Geometry and Its Emergent Cross-City Signature
Jun 2, 2026Xuhui Lin, Stephen Law, Nanjiang Chen +2Representation Learning World Model Learning
Department of Geography University College London, UK · School of Project Management, Faculty of Engineering The University of Sydney, AU · School of Engineering Cardiff University, UK +1
Learning Action-Conditional and Object-Centric Gaussian Splatting World Models for Rigid Objects
Jun 1, 2026Jens U. Kreber, Lukas Mack, Joerg Stueckler3D Gaussian Splatting Dynamical Systems
Intelligent Perception in Technical Systems Group University of Augsburg Augsburg, Germany
Towards Interactive Video World Modeling: Frontiers, Challenges, Benchmarks, and Future Trends
May 31, 2026Jiuming Liu, Chaojun Ni, Mengmeng Liu +7Action-Conditioned Video Generation Long-Horizon Video Generation
Department of Engineering, University of Cambridge, U.K. · Peking University, China · University of Twente, Netherlands +4
$τ_0$ -WM: A Unified Video-Action World Model for Robotic Manipulation
May 31, 2026Pengfei Zhou, Shengcong Chen, Di Chen +17Action-Conditioned Video Generation Long-Horizon Robotic Manipulation
1Shanghai Innovation Institute · 2AGIBOT Finch
StressDream: Steering Video World Models for Robust Policy Evaluation and Improvement
May 29, 2026Junwon Seo, Sushant Veer, Ran Tian +6Video Diffusion Models Action-Conditioned World Models
Carnegie Mellon University · NVIDIA Research · University of Washington +1
MiraBench: Evaluating Action-Conditioned Reliability in Robotic World Models
May 28, 2026Tianzhuo Yang, Zihan Shen, Zirui Mi +7World Models for Robotics Action-Conditioned World Models
Institute for Artiﬁcial Intelligence, Peking University · 2Physis Lab
World Models for Robotic Manipulation: A Survey
May 27, 2026Fangyuan Wang, Ziyuan Wang, Guorui Pei +15World Model Learning World Models for Robotics
Department of Mechanical Engineering, The Hong Kong Polytechnic University, Kowloon, Hong Kong SAR, China · Department of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, China · School of Advanced Engineering, Great Bay University, Dongguan, Guangdong, China +9
SANTS: A State-Adaptive Scheduler for World Action Models
May 27, 2026Yirui Sun, Guangyu Zhuge, Keliang Liu +4Action-Conditioned World Models Visuomotor Policy Learning
Fudan University · Deep Computing Era Technology Co., Ltd · Harbin Institute of Technology
GE-Sim 2.0: A Roadmap Towards Comprehensive Closed-loop Video World Simulators for Robotic Manipulation
May 26, 2026Boxiang Qiu, Liliang Chen, Yue Liao +12Action-Conditioned Video Generation World Models for Robotics
AgiBot · BUAA · LV-NUS Lab +1
Back to Parsimonious Latents: Learning Task-Centric World Models from Visual Foundations
May 25, 2026Minghao Fu, Fan Feng, Nicklas Hansen +1World Model Learning World Models
University of California, San Diego
UWM-JEPA: Predictive World Models That Imagine in Belief Space
May 25, 2026Santosh Kumar Radha, Oktay GoktasWorld Model Learning Latent Dynamics Modeling
AgentField AI, Toronto, Canada
World Models as Group Actions
May 23, 2026Zijie Wang, Wei Zhang, Weiming Zhang +4World Model Learning Action-Conditioned World Models
Sun Yat-sen University · Shenzhen Loop Area Institute · Baidu Inc. +2
Point Tracking Improves World Action Models
May 22, 2026Jiarui Guan, Wenshuai Zhao, Yue Pei +3Point Tracking Robot Policy Learning
Aalto University · ELLIS Institute Finland · Beihang University +3

Jun 14, 2026, cs.ROJ/K move · Enter open · S save

LaWAM: Latent World Action Models for Efficient Dynamics-Aware Robot Policies

Jialei Chen, Kai Wang, Kang Chen, Shuaihang Chen+8

Jilin University · Zhongguancun Academy · Nankai University+4

Latent Action Learning Action-Conditioned World Models Vision-Language-Action Models World Action Models Latent World Models Vision-Based Robot Control

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Vision-Language-Action models (VLAs) leverage large-scale vision-language pretraining for semantic robot control, but often lack explicit foresight into how robot actions change the scene. World-Action Models (WAMs) address this limitation by conditioning policies on predicted futures, yet existing approaches typically rely on computationally expensive video generation with substantial pixel-level redundancy. We present LaWAM, a Latent World Action Model that exposes predictive dynamics to robot policies through compact latent visual subgoals instead of reconstructed future video. At the core of LaWAM is a latent-action-conditioned Latent World Model (LaWM). We obtain LaWM by training a latent action model in the latent space of a pretrained vision foundation model and repurposing its forward decoder to predict future observation features for scene evolution. LaWAM then conditions action generation on these predicted latent visual subgoals to enable dynamics-aware robot control. LaWAM achieves state-of-the-art or competitive success rates (SRs) across LIBERO (98.6% SR), RoboTwin (91.22% SR), and real-world manipulation tasks while retaining low-latency inference. LaWAM runs in 187 ms per action-chunk prediction and achieves up to 24x lower wall-clock latency than pixel-space WAMs.

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Latest papers 216