Promptbreeder evolves both task prompts and the mutation prompts that improve them using LLMs, outperforming Chain-of-Thought and Plan-and-Solve on arithmetic and commonsense reasoning benchmarks.
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representative citing papers
Prepending a few self-generated random interaction clips as context lets VLA policies identify novel camera viewpoints and morphologies at test time and outperform multi-view baselines without parameter updates.
OA-WAM uses persistent address vectors and dynamic content vectors in object slots to enable addressable world-action prediction, improving robustness on manipulation benchmarks under scene changes.
Action Agent pairs LLM-driven video generation with a flow-constrained diffusion transformer to produce velocity commands, raising video success to 86% and delivering 64.7% real-world navigation on a Unitree G1 humanoid.
Privileged Foresight Distillation distills the residual difference in action predictions with versus without future context into a current-only adapter, yielding consistent gains on LIBERO and RoboTwin benchmarks.
RoboDreamer factorizes video generation using language primitives to achieve compositional generalization in robot world models, outperforming monolithic baselines on unseen goals in RT-X.
SuSIE uses a finetuned InstructPix2Pix diffusion model to propose subgoal images that guide a low-level goal-conditioned policy, achieving SOTA zero-shot performance on CALVIN and real-world manipulation.
UniSim learns a universal real-world simulator from orchestrated diverse datasets, enabling zero-shot deployment of policies trained purely in simulation.
MaskWAM unifies mask prompting and prediction in world-action models via Mixture of Transformers to improve robotic policy generalization on language-ambiguous tasks.
AffordanceVLA proposes a VLA model with affordance-aware modules (Which2Act, Where2Act, How2Act) in a Mixture-of-Transformer trained in three stages to improve robotic manipulation.
Fast-WAM shows that explicit future imagination at test time is not required for strong WAM performance; video modeling during training provides the main benefit.
A factorized modular diffusion policy improves fitting of multimodal robot actions and enables flexible task adaptation without catastrophic forgetting.
F1 integrates next-scale visual foresight prediction into a Mixture-of-Transformer VLA architecture to reformulate action generation as foresight-guided inverse dynamics, achieving higher success rates on 136 tasks.
DINO-WM builds world models on pre-trained DINOv2 features to enable zero-shot planning from offline data without rewards or demonstrations.
3D Diffuser Actor unifies diffusion policies with 3D scene features to set new state-of-the-art results on RLBench and CALVIN robot benchmarks.
A GPT-style model pre-trained on large video datasets achieves 94.9% success on CALVIN multi-task manipulation and 85.4% zero-shot generalization, outperforming prior baselines.
A five-layer C++ runtime deploys VLA and WAM models for closed-loop robot control, reporting 100% and 91% task success plus large memory savings on one Transformer block.
Multi-bank similarity-merged event memory plus progress supervision raises long-horizon WAM success from 28.4% to 69.8% on RMBench and full-task success from 52.5% to 80% on real Franka tasks.
AdaWAM introduces an adaptive router that triggers textual or visual reasoning as needed in world action models, claiming better efficiency and performance than prior embodied policies on simulated and real tasks.
RLFP and the FAC algorithm combine foundation-model priors for policy, value, and rewards to produce sample-efficient robotic RL that reaches 86% real-robot success after one hour and 100% success on 7/8 Meta-world tasks in under 100k frames.
The paper introduces World Action Models as a new paradigm unifying predictive world modeling with action generation in embodied foundation models and provides a taxonomy of existing approaches.
Active inference offers a variational way to phenotype agency in AI systems by measuring empowerment in generative models via a T-maze paradigm.
A tutorial defining world models and world action models for robotics, with design axes and a four-paradigm taxonomy of prediction-action coupling.
A survey that clarifies boundaries and organizes World Action Models by generation requirements and predictive substrates, identifying a trend toward generating less of the future.
citing papers explorer
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Promptbreeder: Self-Referential Self-Improvement Via Prompt Evolution
Promptbreeder evolves both task prompts and the mutation prompts that improve them using LLMs, outperforming Chain-of-Thought and Plan-and-Solve on arithmetic and commonsense reasoning benchmarks.
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In-Context World Modeling for Robotic Control
Prepending a few self-generated random interaction clips as context lets VLA policies identify novel camera viewpoints and morphologies at test time and outperform multi-view baselines without parameter updates.
-
OA-WAM: Object-Addressable World Action Model for Robust Robot Manipulation
OA-WAM uses persistent address vectors and dynamic content vectors in object slots to enable addressable world-action prediction, improving robustness on manipulation benchmarks under scene changes.
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Action Agent: Agentic Video Generation Meets Flow-Constrained Diffusion
Action Agent pairs LLM-driven video generation with a flow-constrained diffusion transformer to produce velocity commands, raising video success to 86% and delivering 64.7% real-world navigation on a Unitree G1 humanoid.
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Privileged Foresight Distillation: Zero-Cost Future Correction for World Action Models
Privileged Foresight Distillation distills the residual difference in action predictions with versus without future context into a current-only adapter, yielding consistent gains on LIBERO and RoboTwin benchmarks.
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RoboDreamer: Learning Compositional World Models for Robot Imagination
RoboDreamer factorizes video generation using language primitives to achieve compositional generalization in robot world models, outperforming monolithic baselines on unseen goals in RT-X.
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Zero-Shot Robotic Manipulation with Pretrained Image-Editing Diffusion Models
SuSIE uses a finetuned InstructPix2Pix diffusion model to propose subgoal images that guide a low-level goal-conditioned policy, achieving SOTA zero-shot performance on CALVIN and real-world manipulation.
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Learning Interactive Real-World Simulators
UniSim learns a universal real-world simulator from orchestrated diverse datasets, enabling zero-shot deployment of policies trained purely in simulation.
-
MaskWAM: Unifying Mask Prompting and Prediction for World-Action Models
MaskWAM unifies mask prompting and prediction in world-action models via Mixture of Transformers to improve robotic policy generalization on language-ambiguous tasks.
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AffordanceVLA: A Vision-Language-Action Model Empowering Action Generation through Affordance-Aware Understanding
AffordanceVLA proposes a VLA model with affordance-aware modules (Which2Act, Where2Act, How2Act) in a Mixture-of-Transformer trained in three stages to improve robotic manipulation.
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Fast-WAM: Do World Action Models Need Test-time Future Imagination?
Fast-WAM shows that explicit future imagination at test time is not required for strong WAM performance; video modeling during training provides the main benefit.
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Flexible Multitask Learning with Factorized Diffusion Policy
A factorized modular diffusion policy improves fitting of multimodal robot actions and enables flexible task adaptation without catastrophic forgetting.
-
F1: A Vision-Language-Action Model Bridging Understanding and Generation to Actions
F1 integrates next-scale visual foresight prediction into a Mixture-of-Transformer VLA architecture to reformulate action generation as foresight-guided inverse dynamics, achieving higher success rates on 136 tasks.
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DINO-WM: World Models on Pre-trained Visual Features enable Zero-shot Planning
DINO-WM builds world models on pre-trained DINOv2 features to enable zero-shot planning from offline data without rewards or demonstrations.
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3D Diffuser Actor: Policy Diffusion with 3D Scene Representations
3D Diffuser Actor unifies diffusion policies with 3D scene features to set new state-of-the-art results on RLBench and CALVIN robot benchmarks.
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Unleashing Large-Scale Video Generative Pre-training for Visual Robot Manipulation
A GPT-style model pre-trained on large video datasets achieves 94.9% success on CALVIN multi-task manipulation and 85.4% zero-shot generalization, outperforming prior baselines.
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Embodied.cpp: A Portable Inference Runtime of Embodied AI Models on Heterogeneous Robots
A five-layer C++ runtime deploys VLA and WAM models for closed-loop robot control, reporting 100% and 91% task success plus large memory savings on one Transformer block.
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DIM-WAM: World-Action Modeling with Diverse Historical Event Memory
Multi-bank similarity-merged event memory plus progress supervision raises long-horizon WAM success from 28.4% to 69.8% on RMBench and full-task success from 52.5% to 80% on real Franka tasks.
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Dreaming when Necessary: Advancing World Action Models with Adaptive Multi-Modal Reasoning
AdaWAM introduces an adaptive router that triggers textual or visual reasoning as needed in world action models, claiming better efficiency and performance than prior embodied policies on simulated and real tasks.
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Reinforcement Learning with Foundation Priors: Let the Embodied Agent Efficiently Learn on Its Own
RLFP and the FAC algorithm combine foundation-model priors for policy, value, and rewards to produce sample-efficient robotic RL that reaches 86% real-robot success after one hour and 100% success on 7/8 Meta-world tasks in under 100k frames.
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World Action Models: The Next Frontier in Embodied AI
The paper introduces World Action Models as a new paradigm unifying predictive world modeling with action generation in embodied foundation models and provides a taxonomy of existing approaches.
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Active Inference: A method for Phenotyping Agency in AI systems?
Active inference offers a variational way to phenotype agency in AI systems by measuring empowerment in generative models via a T-maze paradigm.
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From World Models to World Action Models: A Concise Tutorial for Robotics
A tutorial defining world models and world action models for robotics, with design axes and a four-paradigm taxonomy of prediction-action coupling.
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World Action Models: A Survey
A survey that clarifies boundaries and organizes World Action Models by generation requirements and predictive substrates, identifying a trend toward generating less of the future.