HarnessWAM: Bridging Prediction and Deliberation in World Action Models

Zhaopeng Gu; Bingke Zhu; Tianxi Lin; Guibo Zhu; Yingying Chen; Kai Wang; Tingyu Yuan; Chaoyang Zhao; Zhaowen Li; Peng Su; Jinqiao Wang

arXiv · 2608.09516

HarnessWAM: Bridging Prediction and Deliberation in World Action Models

Zhaopeng Gu·Bingke Zhu·Tianxi Lin·Guibo Zhu·Yingying Chen·Kai Wang·Tingyu Yuan·Chaoyang Zhao·Zhaowen Li·Peng Su·Jinqiao Wang

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Abstract

World Action Models (WAMs) jointly learn environmental dynamics and robot actions, introducing priors over physical evolution into embodied control. However, finite-horizon prediction and action generation are insufficient for complex embodied tasks that require global planning, cross-stage state maintenance, execution verification, and failure recovery. We refer to this mismatch as the prediction-deliberation gap of WAMs. To address this gap, we propose HarnessWAM, an agentic framework for WAMs. HarnessWAM employs a vision-language-model-based Task Manager to maintain an evidence-grounded scene belief and a structured task graph. A capability-conditioned executable-space projection further constrains open-ended semantic plans into sequences of atomic skills that satisfy task dependencies, embodiment-state constraints, and the capability boundary of the underlying WAM. During execution, HarnessWAM operates through an event-driven, dual-timescale feedback loop: a lightweight progress estimator continuously provides high-frequency execution evidence, while the Task Manager deliberates at salient milestones by jointly considering the current observation, task state, and interaction history to determine whether to advance the task, acquire additional observations, revise the plan, or initiate local recovery. This mechanism enables the robot to recover its state after a subtask failure and resume execution without discarding previously acquired scene knowledge. HarnessWAM achieves state-of-the-art full-task and subtask success rates of 59.6% and 69.9% on RoboMemArena, and an SR of 23.7% on RoboCerebra Ideal. These results demonstrate that model-external structured state maintenance and closed-loop agentic decision making can effectively extend the local control capabilities of WAMs into embodied task execution that is plannable, verifiable, and recoverable.

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Zhaopeng Gu, Bingke Zhu, Tianxi Lin, Guibo Zhu, Yingying Chen, Kai Wang, Tingyu Yuan, Chaoyang Zhao, Zhaowen Li, Peng Su, Jinqiao Wang. 2026-08-10. HarnessWAM: Bridging Prediction and Deliberation in World Action Models. https://arxiv.org/abs/2608.09516

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