LeapBot-JAC: Joint Action Chains for World Action Models

Abstract:Action-chunking policies predict future controls but execute only a prefix before replanning. How should a fixed action-token budget be organized to support execution? We propose LeapBot-JAC, which allocates sparse future-control references and dense execution targets within one shared action expert. Both chains are supervised by demonstrated controls and jointly denoised at aligned physical-time positions. Directed attention allows execution tokens to read reference tokens subject to the host's visibility constraints. JAC adds neither action tokens nor parameters and retains the host's world-modeling process; both chains participate in inference, while only the execution chain drives the robot. On LIBERO, JAC reaches 98.3% success with FastWAM and LeapBot-WA, up from 97.0% and 97.3%. On zero-shot LIBERO-Plus, their success rates improve from 53.5% to 70.4% and from 73.1% to 77.3%, respectively. RoboTwin and two real-world tasks provide additional deployment evaluations. Single-training-seed comparisons and FastWAM ablations support action-role organization as a practical design choice under a fixed action-token budget.

Robotics (cs.RO)

arXiv:2610.12886 [cs.RO]

(or arXiv:2610.12886v1 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2610.12886 Focus to learn more arXiv-issued DOI via DataCite (pending registration)

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