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CoRe-WAM: Correspondence-Aligned Temporal Residuals for World Action Models

arXiv · AI, language, vision and robotics · article · Sep 23, 2026 · UTC

Comparing current and past observations helps robots understand scene changes and select subsequent actions during manipulation. However, comparing visual features at the same image location can mix different scene content when objects or the camera move. We introduce CoRe-WAM, a world-action model that incorporates correspondence-aligned visual changes through a parameter-efficient temporal interface. Its TraceDelta module uses correspondences from a frozen tracking model to transport historical visual features to current locations before computing signed differences in a shared pretrained fe

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