{"id":"https://openalex.org/W7164580316","doi":"https://doi.org/10.48550/arxiv.2606.13515","title":"MaskWAM: Unifying Mask Prompting and Prediction for World-Action Models","display_name":"MaskWAM: Unifying Mask Prompting and Prediction for World-Action Models","publication_year":2026,"publication_date":"2026-06-11","ids":{"openalex":"https://openalex.org/W7164580316","doi":"https://doi.org/10.48550/arxiv.2606.13515"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2606.13515","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.13515","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"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"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2606.13515","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5138545687","display_name":"Hanyang Yu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yu, Hanyang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138550253","display_name":"Haitao Lin","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lin, Haitao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138494548","display_name":"Jingbo Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Jingbo","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138519668","display_name":"Wenyao Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Wenyao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012786116","display_name":"Chenghao Gu","orcid":"https://orcid.org/0000-0001-6699-9388"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Gu, Chenghao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138493141","display_name":"Heng Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Heng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5138493525","display_name":"Ping Tan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Tan, Ping","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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.30300000309944153,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.30300000309944153,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T10653","display_name":"Robot Manipulation and Learning","score":0.2361000031232834,"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":0.08420000225305557,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/ambiguity","display_name":"Ambiguity","score":0.6492000222206116},{"id":"https://openalex.org/keywords/transformer","display_name":"Transformer","score":0.6100999712944031},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.46799999475479126},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.4625000059604645},{"id":"https://openalex.org/keywords/language-model","display_name":"Language model","score":0.4537000060081482},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.367900013923645},{"id":"https://openalex.org/keywords/language-understanding","display_name":"Language understanding","score":0.35749998688697815},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3422999978065491}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.743399977684021},{"id":"https://openalex.org/C2780522230","wikidata":"https://www.wikidata.org/wiki/Q1140419","display_name":"Ambiguity","level":2,"score":0.6492000222206116},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6355000138282776},{"id":"https://openalex.org/C66322947","wikidata":"https://www.wikidata.org/wiki/Q11658","display_name":"Transformer","level":3,"score":0.6100999712944031},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.46799999475479126},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.4625000059604645},{"id":"https://openalex.org/C137293760","wikidata":"https://www.wikidata.org/wiki/Q3621696","display_name":"Language model","level":2,"score":0.4537000060081482},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.367900013923645},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3621000051498413},{"id":"https://openalex.org/C2983448237","wikidata":"https://www.wikidata.org/wiki/Q1078276","display_name":"Language understanding","level":2,"score":0.35749998688697815},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3422999978065491},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.32820001244544983},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.31700000166893005},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.30000001192092896},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.29809999465942383},{"id":"https://openalex.org/C168993435","wikidata":"https://www.wikidata.org/wiki/Q6501125","display_name":"Ground","level":2,"score":0.2946999967098236},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.2930999994277954},{"id":"https://openalex.org/C61797465","wikidata":"https://www.wikidata.org/wiki/Q1188986","display_name":"Term (time)","level":2,"score":0.29260000586509705},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.29120001196861267},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.2669000029563904},{"id":"https://openalex.org/C131584629","wikidata":"https://www.wikidata.org/wiki/Q4308705","display_name":"Coupling (piping)","level":2,"score":0.26489999890327454},{"id":"https://openalex.org/C195324797","wikidata":"https://www.wikidata.org/wiki/Q33742","display_name":"Natural language","level":2,"score":0.2606000006198883},{"id":"https://openalex.org/C2777508537","wikidata":"https://www.wikidata.org/wiki/Q7936620","display_name":"Visual reasoning","level":2,"score":0.2540000081062317},{"id":"https://openalex.org/C157657479","wikidata":"https://www.wikidata.org/wiki/Q2367247","display_name":"Closed captioning","level":3,"score":0.25200000405311584}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2606.13515","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.13515","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"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":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2606.13515","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.13515","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"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":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"World":[0],"Action":[1],"Models":[2],"(WAMs)":[3],"present":[4],"a":[5,66,117,144],"promising":[6],"paradigm":[7,148],"for":[8,149],"robotic":[9],"control":[10],"via":[11,65],"video":[12],"prediction.":[13],"However,":[14],"current":[15],"WAMs":[16,128],"suffer":[17],"from":[18],"fundamental":[19],"spatial":[20,119],"bottlenecks:":[21],"standard":[22,98],"text":[23,141],"inputs":[24,62],"introduce":[25,49],"referential":[26],"ambiguity":[27],"in":[28,166],"cluttered":[29],"scenes,":[30],"while":[31],"unstructured":[32],"RGB":[33],"predictions":[34,64],"lack":[35],"semantic":[36,89],"grounding":[37],"and":[38,63,101,146,157,169],"remain":[39],"biased":[40],"by":[41],"task-irrelevant":[42],"backgrounds.":[43],"To":[44],"overcome":[45],"these":[46],"limitations,":[47],"we":[48],"MaskWAM,":[50],"an":[51],"object-centric":[52,88],"world-action":[53],"model.":[54],"By":[55],"jointly":[56],"integrating":[57],"masks":[58,86],"as":[59,112,127],"both":[60,167],"explicit":[61],"unified":[67],"Mixture":[68],"of":[69],"Transformers":[70],"(MoT),":[71],"MaskWAM":[72,162],"unlocks":[73],"robust":[74,147],"policy":[75],"generalization.":[76],"This":[77],"design":[78],"provides":[79],"two":[80],"key":[81],"benefits:":[82],"(1)":[83],"predicting":[84],"future":[85],"yields":[87,136],"supervision":[90,106],"that":[91,121,161],"suppresses":[92],"visual":[93,109],"noise,":[94],"significantly":[95,163],"enhancing":[96],"even":[97],"text-conditioned":[99],"WAMs;":[100],"(2)":[102],"coupling":[103],"this":[104],"predictive":[105],"with":[107],"first-frame":[108],"prompts,":[110],"such":[111],"target":[113],"object":[114],"masks,":[115],"establishes":[116],"precise":[118,145],"anchor":[120],"substantially":[122,137],"reduces":[123],"language":[124],"ambiguity.":[125],"Crucially,":[126],"are":[129],"inherently":[130],"vision-driven":[131],"architectures,":[132],"direct":[133],"mask":[134],"conditioning":[135],"stronger":[138],"guidance":[139],"than":[140],"alone,":[142],"establishing":[143],"manipulating":[150],"unseen":[151],"objects.":[152],"Evaluations":[153],"on":[154],"LIBERO,":[155],"RoboTwin,":[156],"real-world":[158],"tasks":[159],"demonstrate":[160],"outperforms":[164],"baselines":[165],"language-clear":[168],"language-ambiguous":[170],"tasks.":[171]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-06-13T00:00:00"}