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SkelWAM: A Skeleton-Guided World-Action Model for Zero-Shot Cross-Embodiment Manipulation

arXiv · AI, language, vision and robotics · article · Sep 18, 2026 · UTC

Reusing manipulation experience across robot embodiments is important for scaling robot learning and reducing repeated task-specific data collection. However, changes in embodiment alter visual appearance, action dimensionality and semantics, and the whole-body configurations that can realize the same tool pose. We present SkelWAM, a skeleton-guided world-action model that couples perception and control through one explicit geometric representation for single-source cross-embodiment manipulation. Arm centerline geometry, tool-center-point (TCP) pose, and parallel-jaw commands form a shared 25-

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