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However, existing world-action models couple world prediction and action execution at the same temporal resolution, forcing the world branch to model near-term frame variations that are redundant and weakly informative. We posit that strictly binding world prediction and action execution to the same temporal rhythm may underutilize the potential of the video branch for embodied control. Therefore, we propose AHA-WAM, an Asynchronous Horizon-Adaptive World-Action Model built on a dual Diffusion Transformer (DiT) architecture that reorganizes world-action modeling around this temporal asymmetry. AHA-WAM instantiates the video DiT as a low-frequency world planner that maintains rolling key-value memory over past observations and exposes reusable layerwise latent","title":"AHA-WAM:Asynchronous Horizon-Adaptive World-Action Modeling with Observation-Guided Context Routing","url":"https://arxiv.org/abs/2606.09811","vendor":"arxiv_cs_ai"},"summary":"arXiv:2606.09811v1 Announce Type: cross \nAbstract: World-action models have emerged as a promising paradigm for robot manipulation, jointly modeling visual scene dynamics and actions to inject physical priors into policy learning. However, existing world-action models couple world prediction and action execution at the same temporal resolution, forcing the world branch to model near-term frame variations that are redundant and weakly informative. We posit that strictly binding world prediction and action execution to the same temporal rhythm may underutilize the potential of the video branch for embodied control. 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AHA-WAM instantiates the video DiT as a low-frequency world planner that maintains rolling key-value memory over past observations and exposes reusable layerwise latent","title":"AHA-WAM:Asynchronous Horizon-Adaptive World-Action Modeling with Observation-Guided Context Routing","vendor":"arxiv_cs_ai"},"confidence":{"method":"deterministic"},"decision":"POSITIVE","issued_at":"2026-06-09T04:43:45Z","notes":"Spider vendor_press (news) news.vendor_press.v1","object":{"captured_by":"crovia.spider.vendor_press","primary_source_url":"https://arxiv.org/abs/2606.09811"},"predecessors":[],"schema":"crovia.axiom.v1","signature":"ed25519:b37e59517c264a3d478a0484dac586beaf4069c6e0839f2102fbc9880b06592a7ac511a45166a247c4f0910cdd4fbc5a2568b89dc21790bb0414589dff04400a","signer":"crovia.substrate","subject":{"observed_at":"2026-06-09T04:43:45Z","source_collector":"spider:vendor_press","target_id":"https://arxiv.org/abs/2606.09811"},"tsa":{"authority":"crovia.substrate.bootstrap","rfc3161_token":"{\"kind\":\"crovia.bootstrap.tsa\",\"source_jsonl\":\"/opt/crovia/spider/data/news/vendor_press_v1.jsonl\",\"source_seal_merkle_root\":\"spider_vendor_press_v1\",\"upgrade_path\":\"Sessione H \\u2014 OpenTimestamps weekly anchor\"}"},"zk_mode":"clear","zk_proof":null},"ledger":{"leaf_hash":"952d6c0e3b95dca0d0712d2090b1538363d71461bf2669274d66a43b8bba5e6e","leaf_index":224438,"ledger_path":"/opt/crovia/substrate/axiom_ledger.jsonl"},"merkle_proof":{"hash_alg":"sha256","leaf_prefix":"0x00","node_prefix":"0x01","odd_leaf_rule":"duplicate_last","path":[{"sibling":"f05e0122465e3ae21e5e5885aed0e66c801f2259ce9d7709605c32a6b19d837c","side":"right"},{"sibling":"8631b6540d694c13495c97bfe5778ce2a0c75bdc0a7dca3167dfcc4b40b53c27","side":"left"},{"sibling":"cf8400e16575de8af6db2cd7af427b556bd317fde99c90aaa132a55b9d8426b7","side":"left"},{"sibling":"a909202b2150a8c822c4c678880f9945606c6c1921e12fa89af2fb7cbdad81bd","side":"right"},{"sibling":"fc43c956481b908fb7739e5c17940bf0d8d2e8fe7ab509985e8f03e5d593e24b","side":"left"},{"sibling":"8033e13154cb38c92e03fb5fc12985d4eddf4f8e615951518fd7cf67cd43018b","side":"left"},{"sibling":"e608affc2056362c3a340b4c445f33ace512b2cfe2d91dd48dbc62ed1cd1d32e","side":"right"},{"sibling":"0dba1b4aa8c69a39c01dbd9d9884405788a8121b073c56815159112e9ccba4bd","side":"left"},{"sibling":"f6fb234a4e2f067b22329eec05b093a8b38f0411de9434d5a8eb55c2f70f1a2f","side":"right"},{"sibling":"b2df6a4bb3e928f0b447931cc688ae01d2415773a2b07cfed0b1cba689078aed","side":"right"},{"sibling":"b1c9ec856caa0fd46bb47b46f18c59ebcd295d774ca17adb3b46f05d394a6a5d","side":"left"},{"sibling":"24fdc29d461691aedb6fa920758206b5bb43851f477ef7a04c34aaed84b8971b","side":"left"},{"sibling":"036922da4e1e2c46d948f070454bfad299b7406fb00735ea9d8bd1e687f5f445","side":"right"},{"sibling":"533d82482604463aa4a281b9d8b85917b383b7c5f924b2b494039524c55e8797","side":"left"},{"sibling":"b2590791b920ca2a4ed39de126d2c0b1a10d9e7e62f572f12425f214e767b6e1","side":"left"},{"sibling":"87c6b850dfec08ac35a693d9db3a3315250a68adb1cfab9b1015f212b63b15bd","side":"right"},{"sibling":"c300cf0154c136afc09b1702a0be98f4ba5b6dc5cf57e8cc714ec1eaf4196eff","side":"left"},{"sibling":"d841ad93efda0869e5eb97678f348f03f5caab4353e05ff4bf18f47fb945b822","side":"left"}]},"schema":"crovia.axiom_proof.v1","seal":{"first_collector_run_id":"","first_receipt_hash":"","jsonl_path":"/opt/crovia/substrate/axiom_ledger.jsonl","key_id":"430895f101d38164","last_collector_run_id":"","last_receipt_hash":"","leaf_count":224761,"merkle_root":"e9f7b49b652e869ab97ffba9c5a31356b2d0e3dc5d00bb28944adf737c46b1e7","public_key_hex":"cf742e26f75669dc673cb5c0786a1ae23ae8ca19c347317192ce40c28a7ff25c","run_id":"hourly_json_retrofit_20260609T103805Z","schema":"crovia.seal.v1","seal_family_version":"crovia-seal-family/1","seal_kind":"substrate_batch","sealed_at":"2026-06-09T14:15:34Z","sig_algorithm":"ed25519","signature":"8ad8076fb12c8e486ae1d1559a9a7ba8e2ee996a9ad3d8ba7bcdbdbd88ab3a15bcb429707aca6d3e9d8b97e2ba755b3dcc77b1abb6601ccb829842719a6fb30d","signer_version":"1.1.0"},"trust_root":{"key_id":"430895f101d38164","public_key_hex":"cf742e26f75669dc673cb5c0786a1ae23ae8ca19c347317192ce40c28a7ff25c","signature_algorithm":"ed25519","url":"/registry/canon/TRUST_ROOT.md"},"verifier":{"spec":"/registry/canon/AXIOM_RECEIPT_v1.md","url":"/v/axm_3f41fc2523838c0ba21958b103210fafa36c47b1e06f7351747871df31e668a9"}}