arxivcs.RO2026-07-04
WSA$_1$: a 3D-Centric World-Spatial-Action Model for Generalizable Robot Control
Jiahao Jiang, Jianing Zhang, Zhenhan Yin, Ruidong Chen, Sen Wang, Zhaoshu Yu, et al.
Recent advances in embodied AI have established robot foundation models (RFMs) as the dominant approach for generalist robotic systems to date. By leveraging imitation learning on extensive robot demonstrations, RFMs have achieved impressive capabilities in mapping visual observa…