{"paper":{"title":"DreamTrajectory: Trajectory-Guided Action Generation with World Model Alignment for Mobile Manipulation","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Lujia Wang, Renjing Xu, Wen Chen, Wenjie Zhang, Wenxuan Song, Xiangyu Chen, Xianpeng Wang, Xiaowen Chu, Yihang Kang, Zheng Yang","submitted_at":"2026-08-02T17:02:48Z","abstract_excerpt":"Mobile manipulation requires a robot to coordinate base and arm motion under continuously changing viewpoints and contact conditions, within an action space far larger than that of fixed-base manipulation. Existing Vision-Language-Action (VLA) policies are limited in two respects. (i)They map observations directly to whole-body action chunks, searching this large action space without an explicit task-space motion plan, which makes coordinated base--arm prediction imprecise. (ii)They execute the predicted chunk open-loop, without checking whether the actions can realize the motion the policy in"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2608.01381","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2608.01381/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}