HarmoWAM unifies predictive and reactive control in world action models via an adaptive gating mechanism to deliver improved zero-shot generalization and precision in robotic manipulation.
S1 →S 2: pick up item and place into bag; S3 →S 4 →S 5: one arm grips the bag to hold it steady, the other grips and pulls the zipper to close
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HarmoWAM: Harmonizing Generalizable and Precise Manipulation via Adaptive World Action Models
HarmoWAM unifies predictive and reactive control in world action models via an adaptive gating mechanism to deliver improved zero-shot generalization and precision in robotic manipulation.