Ruimeng Zhang

FBFM: A Training-Free Asynchronous Feedback Mechanism for Flow-Matching in World-Action Models Execution

Peize Li, Ruimeng Zhang, Ru Zhang, Cong Huang, Kai Chen, Shanghang Zhang

Although world-action models (WAMs) enhance long-horizon robot control by predicting visual evolution before acting, long-horizon reliability demands repeated re-grounding in real observations--not recursive rollout. Existing WAMs address this by refreshing history or KV cache wi…Read more