arXiv — cs.AI preprintsInternational9 October 2026
Humanoid World Action Model With Joint State--Action Generation
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arXiv:2610.12026v1 Announce Type: cross Abstract: Humanoid robots are a promising platform for general-purpose manipulation. Recent Vision-Language-Action (VLA) policies learn actions directly from multimodal observations, while World Action Models (WAMs) further incorporate future visual prediction to improve action generation. However, in hierarchical humanoid systems, VLA and WAM policies output reference actions that are subsequently realized through whole-body control, robot dynamics, balance, and contact. This hierarchy creates an action--execution gap: the reference produced by the poli
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