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arXiv · 2609.39388

UniWAM Technical Report: Unified Mobile Manipulation via Mixed-Stream World-Action Modeling and Manipulation Anchor Pose Supervision

Wei Xue·Keliang Liu·Mingzhang Cui·Jinhua Xie·Jinjie Wei·Jianan Hou·Jingcheng Lu·Lintao Wang·Kaixiang Qiu·Yizhou Liu·Xinghai Ye·Jinghang Han·Mingcheng Li·Jie Gu·Shunli Wang·Lihua Zhang·Dingkang Yang
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Abstract

Mobile manipulation requires precise navigation to a manipulation-ready pose followed by reliable object interaction. These two stages differ in action spaces and visual requirements, which complicates unified policy learning. In addition, collecting diverse real-world navigation data with explicit manipulation-ready pose supervision remains costly and difficult to scale. We introduce UniWAM, a unified mixed-stream world-action model with separate action encoders and output heads for navigation and manipulation, sharing a common backbone. This design supports joint representation learning on independently sampled navigation and manipulation data. UniWAM supports independent inference for either stream and batch-parallel inference for both. We further introduce Manipulation Anchor Pose (MAP) supervision for where to stop and how to orient for manipulation. An automated pipeline constructs MAP-Data from large-scale 3D scenes, yielding over 1.5 million episodes and 7,500 hours. MAP-Data provides per-frame target-object bounding boxes and image-plane MAP coordinates as auxiliary navigation supervision. Together with projected end-effector trajectories for manipulation, these prediction targets provide stream-specific image-plane supervision for action learning from egocentric observations. With large-scale MAP-Data, UniWAM outperforms the strongest external baselines on our MAP-Bench by 30.1\% in position error and 44.0\% in heading error. Across 24 real-robot tasks, UniWAM achieves leading results in MAP navigation and mobile manipulation, with competitive manipulation performance. We have released code, data, and benchmark.

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Wei Xue, Keliang Liu, Mingzhang Cui, Jinhua Xie, Jinjie Wei, Jianan Hou, Jingcheng Lu, Lintao Wang, Kaixiang Qiu, Yizhou Liu, Xinghai Ye, Jinghang Han, Mingcheng Li, Jie Gu, Shunli Wang, Lihua Zhang, Dingkang Yang. 2026-09-30. UniWAM Technical Report: Unified Mobile Manipulation via Mixed-Stream World-Action Modeling and Manipulation Anchor Pose Supervision. https://arxiv.org/abs/2609.39388

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