LATIDIA · Robótica

GreenWAM: un modelo de fundación mundial para la robótica

arXiv:2610.18774v1 Tipo de anuncio: nuevo Resumen: Un robot necesita un modelo mundial que prediga cómo sus acciones cambiarán la escena y una política que elija esas acciones. Por lo general, los modelos se construyen y evalúan para una sola

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arXiv:2610.18774v1 Announce Type: new Abstract: A robot needs a world model that predicts how its actions will change the scene and a policy that chooses those actions. Models are usually built and evaluated for only one of these roles, and every robot records its actions in its own format. We ask whether one robot world model can serve both roles across different bodies, and what makes this work. We present GreenWAM, a world foundation model for robotics, together with the recipe that produces it: (1) a shared anatomical action space that describes 20 robot families, from bimanual arms to dexterous humanoids, in common joint coordinates; (2) joint training on these