World-Value-Action Model: Implicit Planning for Vision-Language-Action Systems

arXiv:2604.14732 · cs.RO, cs.LG · Submitted 2026-04-16 · Read on arXiv

cs.RO, cs.LG

Submitted: 2026-04-16

Updated: 2026-10-12

Project page: https://win-commit.github.io/wavpage/Abstract

Terminology

• Action Space — 1× in this paper · explained in 1 episode
• Generalization — 1× in this paper · explained in 13 episodes
• Latent Representation — 1× in this paper · explained in 2 episodes
• Latent Space — 1× in this paper · explained in 7 episodes
• Robustness — 1× in this paper · explained in 5 episodes
• Unified Framework — 1× in this paper · explained in 5 episodes
• Vision-Language-Action (VLA) Models — 1× in this paper · explained in 2 episodes
• World Model — 1× in this paper · explained in 7 episodes

Sources

• Cosmos World Foundation Model Platform for Physical AI
• Motus: A Unified Latent Action World Model
• GR00T N1: An Open Foundation Model for Generalist Humanoid Robots
• $\pi_0$: A Vision-Language-Action Flow Model for General Robot Control
• RT-1: Robotics Transformer for Real-World Control at Scale
• UniVLA: Learning to Act Anywhere with Task-centric Latent Actions
• RynnVLA-002: A Unified Vision-Language-Action and World Model
• WorldVLA: Towards Autoregressive Action World Model
• Unified Diffusion VLA: Vision-Language-Action Model via Joint Discrete Denoising Diffusion Process
• Diffusion Policy: Visuomotor Policy Learning via Action Diffusion
• VLA-0: Building State-of-the-Art VLAs with Zero Modification
• Ctrl-World: A Controllable Generative World Model for Robot Manipulation
• Dream to Control: Learning Behaviors by Latent Imagination
• Temporal Difference Learning for Model Predictive Control
• TD-MPC2: Scalable, Robust World Models for Continuous Control
• Learning Massively Multitask World Models for Continuous Control
• Diffusion Transformer Policy
• NORA-1.5: A Vision-Language-Action Model Trained using World Model- and Action-based Preference Rewards
• $\pi_{0.5}$: a Vision-Language-Action Model with Open-World Generalization
• OpenVLA: An Open-Source Vision-Language-Action Model

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• APT: Action Expert Pretraining Improves Instruction Generalization of Vision-Language-Action Policies