World Action Models are Zero-shot Policies (Feb 2026)

Описание: Title: World Action Models are Zero-shot Policies (Feb 2026)
Link: http://arxiv.org/abs/2602.15922v1
Date: February 2026

Summary:
DreamZero is a 14B parameter World Action Model (WAM) built on a pretrained video diffusion backbone that jointly predicts future video frames and actions. By modeling physical dynamics through video prediction, the model achieves over 2× improvement in zero-shot generalization to unseen tasks and environments compared to state-of-the-art VLAs. Through extensive optimizations, the model performs real-time closed-loop control at 7Hz and demonstrates successful cross-embodiment transfer from human and robot video-only data.

Key Topics:
World Action Models (WAM)
Video Diffusion Models
Zero-shot Robotic Generalization
Cross-embodiment Transfer
Real-time Closed-loop Control
Inverse Dynamics
Few-shot Adaptation

Chapters:
00:00 - Introducing World Action Models
01:10 - Shifting Robotic Paradigms
02:30 - Lucid Dream Analogy
04:18 - Explaining Joint Denoising
06:08 - Beta Noise Scheduling
07:59 - Training Decisive Inference
09:16 - Gamified Data Diversity
11:04 - Parallelizing Forward Passes
12:26 - DiT Caching Optimization
14:24 - Cross-embodiment Task Transfer
15:47 - Mastering Physics of Interaction
16:58 - Generalizing Real-world Environments

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