AIBullisharXiv – CS AI · 18h ago7/10
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AHA-WAM:Asynchronous Horizon-Adaptive World-Action Modeling with Observation-Guided Context Routing
Researchers introduce AHA-WAM, an asynchronous world-action model for robot manipulation that decouples world prediction from action execution at different temporal frequencies. The system achieves 92.80% success on RoboTwin benchmarks and 78.3% on real-world tasks while operating at 24.17 Hz with 4.59x faster inference than existing approaches.