[Submitted on 1 Oct 2026]
Title:Keep the Effect, Drop the Actor: Programmable Effect-to-Execution World-Action Models
View a PDF of the paper titled Keep the Effect, Drop the Actor: Programmable Effect-to-Execution World-Action Models, by Junyi Hu and 3 other authors
View PDF HTML (experimental)
Abstract:A robot demonstration records two things in the same frames: what happened to the objects, and how one particular arm made it happen. We condition on the first. A demonstration is compiled into an effect program: the 3D keypoint trajectories of the objects that moved, two points marking where each was held, and the configuration the scene ends in, with the demonstrator removed. PEWAM, a 71.5M-parameter world-action model, generates effect, robot execution, action and terminal state as four streams with independent flow-matching times, so clamping a program and sampling the execution turns inference into programming, re-solved closed loop from the live scene. On held-out LIBERO-Goal tasks, one demonstration's program completes 40 of 90 episodes, where the same backbone given a goal image or language, and published demonstration-conditioned methods, complete at most 19; on three of Meta-World's held-out classes it exceeds the best published results, though not on the five-class mean. Because a program is a set of coordinates, a person can edit it: the placement follows a shifted terminal state and the grasp turns with rotated contact points. The same program runs on four robot arms without retraining, and after a push, re-solving completes 23 of 60 episodes where replaying the demonstration completes 6. On a Franka arm, fine-tuned on real demonstrations of other tasks, programs compiled from single human videos complete 36 of 40 trials, against 22 for the same backbone conditioned on the video's last frame as a goal image.
Subjects:
Robotics (cs.RO)
Cite as: arXiv:2610.02398 [cs.RO]
(or arXiv:2610.02398v1 [cs.RO] for this version)
https://doi.org/10.48550/arXiv.2610.02398
arXiv-issued DOI via DataCite (pending registration)
Submission history
From: Zhewen He [view email] [v1] Thu, 1 Oct 2026 19:25:04 UTC (20,677 KB)
Full-text links:
Access Paper:
View a PDF of the paper titled Keep the Effect, Drop the Actor: Programmable Effect-to-Execution World-Action Models, by Junyi Hu and 3 other authors
View PDF
HTML (experimental)
TeX Source
view license
Current browse context:
cs.RO
new | recent | 2026-10
Change to browse by:
cs
References & Citations
NASA ADS
Google Scholar
Semantic Scholar
Loading...
Data provided by:
Bibliographic Tools
Bibliographic and Citation Tools
Bibliographic Explorer Toggle
Bibliographic Explorer (What is the Explorer?)
Connected Papers Toggle
Connected Papers (What is Connected Papers?)
Litmaps Toggle
Litmaps (What is Litmaps?)
scite.ai Toggle
scite Smart Citations (What are Smart Citations?)
Code, Data, Media
Code, Data and Media Associated with this Article
alphaXiv Toggle
alphaXiv (What is alphaXiv?)
Links to Code Toggle
CatalyzeX Code Finder for Papers (What is CatalyzeX?)
DagsHub Toggle
DagsHub (What is DagsHub?)
GotitPub Toggle
Gotit.pub (What is GotitPub?)
Huggingface Toggle
Hugging Face (What is Huggingface?)
ScienceCast Toggle
ScienceCast (What is ScienceCast?)
Demos
Demos
Replicate Toggle
Replicate (What is Replicate?)
Spaces Toggle
Hugging Face Spaces (What is Spaces?)
Spaces Toggle
TXYZ.AI (What is TXYZ.AI?)
Related Papers
Recommenders and Search Tools
Link to Influence Flower
Influence Flower (What are Influence Flowers?)
Core recommender toggle
CORE Recommender (What is CORE?)
Author
Venue
Institution
Topic
About arXivLabs
arXivLabs: experimental projects with community collaborators
arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website.
Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them.
Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs.
Which authors of this paper are endorsers? | Disable MathJax (What is MathJax?)