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arXiv · 2606.09215

MotionWAM: Towards Foundation World Action Models for Real-Time Humanoid Loco-Manipulation

Jia Zheng·Teli Ma·Yudong Fan·Zifan Wang·Shuo Yang·Junwei Liang
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Abstract

World Action Models (WAMs) couple a video dynamics prior to the policy and have shown encouraging results on tabletop manipulation, but iterative denoising over high-dimensional video-action latents leaves them too slow for real-time humanoid loco-manipulation. The problem is compounded by the dominant hierarchical paradigm, in which a high-level manipulation policy controls only the upper body while a low-level controller tracks coarse base commands -- placing upper and lower body in inconsistent action spaces and reducing the legs to balance-preserving locomotion. We present MotionWAM, a real-time WAM that drives autonomous humanoid loco-manipulation from a single egocentric camera by conditioning the policy on the intermediate denoising features of a video world model. MotionWAM replaces the upper-lower split with a unified motion latent and predicts whole-body motion tokens that jointly cover locomotion, torso motion, height regulation, foot interaction, and hand manipulation in a single action space. A three-stage learning framework progressively adapts the video world model to egocentric visual dynamics and to the target humanoid embodiment. On nine real-world Unitree G1 tasks, MotionWAM runs in real time, substantially outperforms Vision-Language-Action (VLA) baselines fine-tuned on the same demonstrations by over 30% in overall success rate, and executes task-driven foot interaction that decoupled upper-lower policies cannot reach. Our results suggest that video-pretrained WAMs can be lifted from tabletop manipulation to coordinated, human-like whole-body humanoid control.

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Jia Zheng, Teli Ma, Yudong Fan, Zifan Wang, Shuo Yang, Junwei Liang. 2026-06-08. MotionWAM: Towards Foundation World Action Models for Real-Time Humanoid Loco-Manipulation. https://arxiv.org/abs/2606.09215

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