World-action modelIntermediate
SkeleWAM: Skeleton World-Action Modeling for Efficient Robotic Manipulation
This preprint introduces SkeleWAM, a 57.1M-parameter world-action model for robotic manipulation that represents scenes as sparse 3D skeletons of robot joints, object centers, and interaction points. On the full LIBERO-Plus benchmark it reaches 85.9% zero-shot success, beating the 2B-parameter Cosmos-Policy by 3.7 points, and 89% average success across five real-robot tasks versus Cosmos-Policy's 87%. The result suggests explicit robot–object geometry can provide robust, parameter-efficient control without video or dense latent world prediction.