{"id":"https://openalex.org/W7167797435","doi":"https://doi.org/10.48550/arxiv.2607.06988","title":"WAM-TTT: Steering World-Action Models by Watching Human Play at Test Time","display_name":"WAM-TTT: Steering World-Action Models by Watching Human Play at Test Time","publication_year":2026,"publication_date":"2026-07-08","ids":{"openalex":"https://openalex.org/W7167797435","doi":"https://doi.org/10.48550/arxiv.2607.06988"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2607.06988","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2607.06988","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,"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.2607.06988","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5027478477","display_name":"Yusen Feng","orcid":"https://orcid.org/0009-0008-8094-3610"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Feng, Yusen","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101936635","display_name":"Bo Han","orcid":"https://orcid.org/0000-0001-6282-5428"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Han, Bingchen","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5140319192","display_name":"Jiangran Lyu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lyu, Jiangran","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5140301062","display_name":"Kai Liu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liu, Kai","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5121598855","display_name":"Yixin Zheng","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zheng, Yixin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5140337578","display_name":"Yuxuan Wan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wan, Yuxuan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5140370457","display_name":"Weiheng Liu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liu, Weiheng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5140361555","display_name":"Sun Han","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Han, Sun","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5126718725","display_name":"Ruiqin Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Ruiqin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5140378520","display_name":"Yulong Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Yulong","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5140311735","display_name":"Fangfu Liu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liu, Fangfu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5140343557","display_name":"Xuesong Shi","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shi, Xuesong","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5140337317","display_name":"Libin Liu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liu, Libin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5140303352","display_name":"Yizhou Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Yizhou","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5140322215","display_name":"Zhizheng Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Zhizheng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5140361167","display_name":"He Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, He","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":0.4894999861717224,"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":0.4894999861717224,"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/T10812","display_name":"Human Pose and Action Recognition","score":0.26980000734329224,"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/T10709","display_name":"Social Robot Interaction and HRI","score":0.1386999934911728,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.7576000094413757},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.63919997215271},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6050999760627747},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.49889999628067017},{"id":"https://openalex.org/keywords/test","display_name":"Test (biology)","score":0.400299996137619},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.35989999771118164}],"concepts":[{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.7576000094413757},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6492999792098999},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.63919997215271},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6209999918937683},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6050999760627747},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.49889999628067017},{"id":"https://openalex.org/C2777267654","wikidata":"https://www.wikidata.org/wiki/Q3519023","display_name":"Test (biology)","level":2,"score":0.400299996137619},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.36959999799728394},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.35989999771118164},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.3506999909877777},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.35040000081062317},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.31869998574256897},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.30090001225471497},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.2930000126361847},{"id":"https://openalex.org/C132964779","wikidata":"https://www.wikidata.org/wiki/Q2110223","display_name":"Raw data","level":2,"score":0.2777000069618225},{"id":"https://openalex.org/C16910744","wikidata":"https://www.wikidata.org/wiki/Q7705759","display_name":"Test data","level":2,"score":0.2540999948978424}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2607.06988","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2607.06988","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,"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.2607.06988","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2607.06988","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,"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":{"Steering":[0],"robot":[1,17,82,120],"foundation":[2,134],"models":[3,35],"(RFMs)":[4],"toward":[5],"new":[6],"task":[7],"variants":[8],"or":[9,21,124],"user-preferred":[10],"behaviors":[11,83],"remains":[12,111],"challenging,":[13],"often":[14],"requiring":[15],"additional":[16],"demonstrations,":[18],"task-specific":[19,125],"fine-tuning,":[20,126],"long-context":[22],"conditioning.":[23],"We":[24],"present":[25],"WAM-TTT,":[26],"a":[27,53,58,74,89],"test-time":[28],"training":[29],"framework":[30],"for":[31,70],"steering":[32,118],"world":[33],"action":[34],"from":[36],"raw":[37],"human":[38,43,79,99],"videos.":[39],"Rather":[40],"than":[41],"treating":[42],"videos":[44,100],"as":[45],"trajectories":[46],"to":[47,103],"imitate,":[48],"WAM-TTT":[49,140],"absorbs":[50],"them":[51],"into":[52],"lightweight":[54],"adaptive":[55],"memory":[56,68,91],"inside":[57],"frozen":[59],"WAM":[60,110],"through":[61],"self-supervised":[62],"video":[63],"prediction.":[64],"To":[65],"make":[66],"this":[67],"useful":[69],"control,":[71],"we":[72],"introduce":[73],"meta-training":[75],"stage":[76],"that":[77,139],"aligns":[78],"demonstrations":[80],"with":[81],"using":[84],"paired":[85],"human-robot":[86],"data":[87],"and":[88,116,151],"key--value":[90],"reconstruction":[92],"objective.":[93],"At":[94],"test":[95],"time,":[96],"only":[97],"unlabeled":[98],"are":[101],"required":[102],"adapt":[104],"the":[105,108,129,133],"memory,":[106],"while":[107,127],"pretrained":[109],"frozen.":[112],"This":[113],"enables":[114],"efficient":[115],"reusable":[117],"without":[119],"actions,":[121],"human-side":[122],"annotations,":[123],"preserving":[128],"generalization":[130,152],"ability":[131],"of":[132],"model.":[135],"Extensive":[136],"experiments":[137],"show":[138],"consistently":[141],"outperforms":[142],"in-context":[143],"human-video":[144],"conditioning":[145],"baselines":[146],"across":[147],"diverse":[148],"manipulation":[149],"tasks":[150],"settings.":[153]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2026-07-10T00:00:00"}
