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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Embodied.cpp introduces a portable C++ inference runtime with modular layers for deploying VLA and WAM models on heterogeneous robots, reporting 100% and 91% task success on two models plus memory reduction on a WAM benchmark.
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.
DiM-WAM is a memory-augmented world-action model that integrates multi-scale historical events and global task progress to improve long-horizon robot manipulation performance.
ICWM frames system identification as in-context adaptation so VLA policies can infer dynamics from self-generated interactions and handle novel configurations without parameter updates.
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.
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 survey that clarifies boundaries and organizes World Action Models by generation requirements and predictive substrates, identifying a trend toward generating less of the future.
A tutorial taxonomizes world models for robotics into observation-space and state-space types and introduces world action models via four paradigms linking predictions to executable actions.
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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.