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arXiv · 2605.06481

OA-WAM: Object-Addressable World Action Model for Robust Robot Manipulation

Yushan Liu·Peibo Sun·Shoujie Li·Yifan Xie·Lingfeng Zhang·Xintao Chao·Shiyuan Dong·Fang Chen·Xiao-Ping Zhang·Wenbo Ding
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Abstract

World Action Models (WAMs) enhance Vision-Language-Action policies by jointly predicting scene evolution and robot actions, but existing methods usually represent the predicted world as holistic images, video tokens, or global latents. These representations are difficult for an action decoder to address when an instruction refers to a particular object, especially under scene shifts where object identity is entangled with context. We propose OA-WAM, an Object-Addressable World Action Model for robust robot manipulation. OA-WAM decomposes each frame into N+1 slot states, with one robot slot and N object slots. Each slot contains a persistent address vector and a time-varying content vector, and is fused with text, image, proprioception, and past-action tokens in a block-causal sequence. A world head predicts next-frame slot states, while a flow-matching action head decodes a 16-step continuous action chunk in the same forward pass. Addressability is enforced by routing cross-slot attention through address-only keys and resetting the address slice at every transformer layer, separating which object to act on from what that object currently is without adding extra tokens. OA-WAM matches strong VLA and WAM baselines on LIBERO (97.8%) and SimplerEnv (79.3%), reaches state-of-the-art performance on the most relevant LIBERO-Plus geometric axes, and remains competitive on the seven-axis aggregate. A causal slot-intervention test yields a swap-binding cosine of 0.87, versus at most 0.09 for holistic baselines. These results suggest that addressable object states provide an effective interface for robust world-action modeling under scene perturbations.

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Yushan Liu, Peibo Sun, Shoujie Li, Yifan Xie, Lingfeng Zhang, Xintao Chao, Shiyuan Dong, Fang Chen, Xiao-Ping Zhang, Wenbo Ding. 2026-05-07. OA-WAM: Object-Addressable World Action Model for Robust Robot Manipulation. https://arxiv.org/abs/2605.06481

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