GreenWAM

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1. 5d
   GreenWAM: a robot world model that also acts as policy

   GreenWAM is a robot world foundation model presented with the recipe that produces it: a shared anatomical action space describing 20 robot families, from bimanual arms to dexterous humanoids, in common joint coordinates; joint training across those families in visual, action-conditioned and world-action modes; and policies that split an action expert off the generator. As a world model it reports top-tier trajectory, depth and 3D accuracy on WorldArena 1.0, ahead of every world-action model and video generator in the comparison, and as a policy it scores among the top entries of the RoboTwin 2.0 leaderboard, reaches the highest zero-shot LIBERO-plus success among the compared methods and is competitive with dedicated vision-language-action and world-action policies on CALVIN and LIBERO. The authors also adapt GreenWAM to a real humanoid, where it succeeds more often than policies adapted from π0.5 and Cosmos 3 Edge, and distill it into a single-step policy for real-time control.

   Hugging Face · Papers · 🔥 0

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