ActiveWAM: Evidence-Aware Active Vision for World-Action Models

Renjun Wu; Luzhou Ge; Xuesong Li

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arXiv · 2610.01698

ActiveWAM: Evidence-Aware Active Vision for World-Action Models

Renjun Wu·Luzhou Ge·Xuesong Li

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Abstract

Active vision manipulation requires a policy to control both its camera and its end-effectors, yet camera motion determines which evidence remains visible within finite observation windows. Acquiring a new view can displace task-critical cues, while retaining a view forgoes potentially useful observations. We formulate this as an evidence-aware retain--acquire problem and present ActiveWAM, a unified world--action model that learns observation and manipulation jointly. To this end, we propose training-time inversion which constrains a frozen video prior by task-bearing source evidence and visible temporal changes, eliminating the need for test-time inversion or candidate ranking. At deployment, the policy generates bimanual and pan/tilt actions-including stay and reacquisition behaviors-from view-aware history, and updates context from newly measured RGB observations. Future-video prediction serves as a co-training signal, while action generation requires neither future-video decoding nor optimal viewpoint annotations. We introduce RoboTwin-AV, a 50-task benchmark with executable pan/tilt control and automatically generated demonstrations. ActiveWAM improves TAVIS out-of-distribution success by up to 17.0 percentage points over the strongest baselines, achieves 20.0 additional points over Fast-WAM on RoboTwin-AV, and outperforms it by 26.7 points on real-world physical kitchen tasks.

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Renjun Wu, Luzhou Ge, Xuesong Li. 2026-10-01. ActiveWAM: Evidence-Aware Active Vision for World-Action Models. https://arxiv.org/abs/2610.01698

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