CoWAM: Coordination Contracts for Selective Policy Intervention with WAMs

World Action Models (WAMs) augment robot policies with action-conditioned predicted futures, but a plausible future alone does not justify changing the action that a bimanual policy would execute.

World Action Models (WAMs) augment robot policies with action-conditioned predicted futures, but a plausible future alone does not justify changing the action that a bimanual policy would execute. We present CoWAM, a selective intervention layer that expresses synchronization,…