DECOWAM: Decoupled Whole-Body World-Action Model for Legged Mobile Manipulation
技术动态
来源：arXiv cs.RO发布时间待核实
arXiv:2608.20114v1 Announce Type: cross Abstract: Mobile manipulation requires a robot to predict how locomotion and arm motion jointly alter future observations and control. Existing world-action models, developed largely for fixed-base platforms, do not explicitly distinguish camera ego-motion from base and arm actions. Here we introduce DECOWAM, a whole-body world-action model that separates these factors through dedicated conditional interfaces.