arxivcs.ROcs.AI2026-07-06
DSWAM: A Dual-System World Action Foundation Model for Fine-Grained Robot Manipulation
Jian Zhu, Jianjun Zhang, Taiyi Su, Tianbin Liu, Zhangyuan Wang, Kai Xie, et al.
World Action Models (WAMs) provide a promising alternative to Vision-Language-Action (VLA) policies by using video-based world modeling as dense supervision for robot action learning. Existing WAMs excel at physically grounded execution, but typically lack the explicit language-l…