arxivcs.CVcs.RO2026-07-10
Causally Debiased Latent Action Model for Embodied Action Conditioned World Models
Yufan Wei, Kun Zhou, Lingjun Mao, Zijun Zhang, Ziming Xu, Ziqiao Xi, et al.
Action-conditioned world models (ACWMs) aim to simulate future observations conditioned on embodied actions, offering a promising foundation for robot planning, policy evaluation, and data augmentation. However, learning controllable ACWMs requires large-scale action-labeled data…