Add WAM paper: Making Foresight Actionable: Repurposing Representation Alignment in World Action Models

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Paper

• Title: Making Foresight Actionable: Repurposing Representation Alignment in World Action Models
• Short name: Making Foresight Actionable
• arXiv ID: 2606.12217v1
• Paper: https://arxiv.org/pdf/2606.12217
• Authors: Lu Qiu, Yizhuo Li, Yi Chen, Yuying Ge, Yixiao Ge, Xihui Liu
• Published: 2026-06-10
• arXiv categories: cs.CV, cs.AI, cs.RO
• Matched keywords: world action model, world action models

README Entry

- **Making Foresight Actionable**: "Making Foresight Actionable: Repurposing Representation Alignment in World Action Models", arXiv 2026. ![](https://img.shields.io/badge/Multi--Dit-9f1239) ![](https://img.shields.io/badge/Hidden--State-fb7185)
  [[📄 Paper](https://arxiv.org/pdf/2606.12217)]

Robot Decision

• Decision: accept
• Confidence: high
• Taxonomy: joint_diffusion_multistream_hidden_state
• Taxonomy confidence: high
• README heading: ### Diffusion-based Generation
• Badges: https://img.shields.io/badge/Multi--Dit-9f1239, https://img.shields.io/badge/Hidden--State-fb7185

Reason

The paper explicitly studies and improves World Action Models for robot manipulation, focusing on action-conditioned future scene modeling and action decoding.

Evidence

• uses video generation models to model future scene evolution before producing control actions
• evaluates AGRA on real-world manipulation tasks
• baseline WAM uses Video DiT and Action DiT to predict future frames and continuous actions

Taxonomy Evidence

• baseline WAM follows a dual DiT architecture with Video DiT and Action DiT
• Video DiT predicts future frames and exposes its hidden states to Action DiT
• visual representations are injected into action head by cross-attention
• aligning intermediate video diffusion features with foundation visual encoder representations

Human Review Checklist

• This paper belongs in the WAM survey
• README section is correct
• Badges are correct
• Short name is correct
• Paper link is correct
• Merge this PR if accepted