{"id":"https://openalex.org/W7225831367","doi":"https://doi.org/10.48550/arxiv.2611.13818","title":"WAM is capable in BEHAVIOR-1K: the 2nd-place solution to the 2026 BEHAVIOR Challenge","display_name":"WAM is capable in BEHAVIOR-1K: the 2nd-place solution to the 2026 BEHAVIOR Challenge","publication_year":2026,"publication_date":"2026-11-10","ids":{"openalex":"https://openalex.org/W7225831367","doi":"https://doi.org/10.48550/arxiv.2611.13818"},"language":"en","primary_location":{"id":"doi:10.48550/arxiv.2611.13818","doi":"https://doi.org/10.48550/arxiv.2611.13818","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2611.13818","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"volume":null,"type":"preprint","is_traditional":true,"indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2611.13818","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5158032023","display_name":"Yelin He","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"He, Yelin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073562701","display_name":"Jiaquan Ye","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ye, Jiaquan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5158053109","display_name":"Xinming Wei","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wei, Xinming","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085850141","display_name":"Wenjie Xiao","orcid":"https://orcid.org/0000-0002-4734-683X","observed_orcids":["https://orcid.org/0000-0002-4734-683X"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xiao, Wenjie","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066324472","display_name":"Gengming Zhang","orcid":"https://orcid.org/0000-0001-8117-4157","observed_orcids":["https://orcid.org/0000-0001-8117-4157"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Gengming","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102982878","display_name":"Guoting Wei","orcid":"https://orcid.org/0009-0001-7282-6026","observed_orcids":["https://orcid.org/0009-0001-7282-6026"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wei, Guoting","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020400305","display_name":"Xianbiao Qi","orcid":"https://orcid.org/0000-0002-8493-1966","observed_orcids":["https://orcid.org/0000-0002-8493-1966"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Qi, Xianbiao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5084417688","display_name":"Rong Xiao","orcid":"https://orcid.org/0000-0002-6408-9724","observed_orcids":["https://orcid.org/0000-0002-6408-9724","https://orcid.org/0000-0003-2207-5698"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xiao, Rong","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9922000169754028,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9922000169754028,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.003800000064074993,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T13382","display_name":"Robotics and Automated Systems","score":0.0005000000237487257,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6136000156402588},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.6075999736785889},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.5857999920845032},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.45249998569488525},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.4375},{"id":"https://openalex.org/C74172769","wikidata":"https://www.wikidata.org/wiki/Q1446839","display_name":"Routing (electronic design automation)","level":2,"score":0.38830000162124634},{"id":"https://openalex.org/C134261354","wikidata":"https://www.wikidata.org/wiki/Q938438","display_name":"Statistical inference","level":2,"score":0.3269999921321869},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3075999915599823},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3010999858379364},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.28139999508857727},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2694999873638153},{"id":"https://openalex.org/C186967261","wikidata":"https://www.wikidata.org/wiki/Q5082128","display_name":"Mobile device","level":2,"score":0.2563000023365021},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25290000438690186},{"id":"https://openalex.org/C2777267654","wikidata":"https://www.wikidata.org/wiki/Q3519023","display_name":"Test (biology)","level":2,"score":0.25270000100135803},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.25029999017715454}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2611.13818","doi":"https://doi.org/10.48550/arxiv.2611.13818","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2611.13818","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2611.13818","doi":"https://doi.org/10.48550/arxiv.2611.13818","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2611.13818","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"This":[0],"work":[1],"presents":[2],"the":[3,9,90,166],"2nd-place":[4],"solution":[5],"(Team":[6],"IF1001)":[7],"to":[8,59,69],"2026":[10],"BEHAVIOR":[11],"Challenge,":[12],"which":[13],"evaluates":[14],"mobile":[15],"manipulation":[16],"across":[17,122,161],"100":[18,123,163],"household":[19],"tasks.":[20,164],"Our":[21,141],"method":[22,142],"is":[23],"built":[24],"on":[25,109],"a":[26,55,71,144,150,179,185],"powerful":[27],"world":[28],"action":[29],"model":[30],"(WAM),":[31],"Cosmos":[32,36],"3.":[33],"We":[34],"improve":[35],"3":[37,158],"by":[38,77],"using":[39],"richer":[40],"visual":[41],"history,":[42],"task-progress":[43,61],"conditioning,":[44],"and":[45,47,63,66,82,85,107,149,184],"task-group":[46,72],"skill-specific":[48,74],"LoRA":[49],"adapters.":[50],"During":[51],"inference,":[52],"we":[53,97],"apply":[54],"separate":[56],"progress":[57],"estimator":[58],"supply":[60],"context,":[62],"use":[64,98],"task-":[65],"progress-conditioned":[67],"routing":[68],"select":[70],"or":[73],"policy,":[75],"complemented":[76],"action-candidate":[78],"aggregation,":[79],"rolling":[80],"inpainting,":[81],"task-specific":[83],"temporal":[84],"gripper":[86],"control.":[87],"To":[88],"meet":[89],"minimum":[91],"inference":[92,134],"requirement":[93],"of":[94,147,154,182,189],"1":[95],"FPS,":[96],"neither":[99],"recursive":[100],"self-improvement":[101],"(RSI)":[102],"nor":[103],"agentic":[104],"harness":[105],"methods":[106],"rely":[108],"no":[110],"closed-source":[111],"models;":[112],"during":[113],"official":[114,167],"private-test":[115],"evaluation,":[116],"our":[117,176],"system":[118,177],"handled":[119],"concurrent":[120],"requests":[121],"evaluation":[124],"ports":[125],"with":[126,171],"limited":[127],"hardware":[128],"resources,":[129],"sustaining":[130],"an":[131],"average":[132],"end-to-end":[133],"rate":[135,153,188],"above":[136],"2":[137],"FPS":[138],"per":[139,174],"port.":[140],"achieves":[143,178],"mean":[145,180],"Q-score":[146,181],"0.613":[148],"full-task":[151,186],"success":[152,187],"40.9%,":[155],"averaged":[156],"over":[157],"self-evaluation":[159],"rounds":[160],"all":[162],"On":[165],"private":[168],"test":[169],"set,":[170],"20":[172],"instances":[173],"task,":[175],"0.615":[183],"41.2%.":[190]},"counts_by_year":[],"updated_date":"2026-11-12T12:28:57.059296","created_date":"2026-11-12T00:00:00"}