{"paper":{"title":"Learning 4D Geometric Priors for Inference-Efficient World Action Models","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.AI"],"primary_cat":"cs.RO","authors_text":"Chong Ma, Hanli Wang, Jianjun Zhang, Jian Zhu, Taiyi Su, Yi Xu, Zitai Huang","submitted_at":"2026-07-06T07:10:22Z","abstract_excerpt":"World Action Models (WAMs) have shown strong potential for robotic manipulation by jointly modeling visual future dynamics and executable action sequences. However, existing video-action co-training methods primarily optimize appearance-oriented video latents, which may insufficiently capture the temporally evolving geometry required for precise manipulation. We propose MECo-WAM, a Multi-Expert Co-Training World Action Model that injects action-relevant 4D geometric priors into video-action representations while preserving the original lightweight inference graph. During training, MECo-WAM com"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2607.05468","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/2607.05468/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"}