AquaWAM: דגם פעולה עולם-מודל דינמי-מודע למים לאגנטים גוף-מכונה

תקציר מקורי באנגליתarXiv:2609.33299v2 Announce Type: replace-cross Abstract: World Action Models (WAMs) are becoming increasingly important and useful for embodied intelligence, as they enable robots to anticipate the consequences of candidate actions before interacting with the physical environment. However, underwater robots are usually subject to passive dynamics, such as inertia, buoyancy, hydrodynamic drag, and persistent drift, which can continue to affect the vehicle even after an action is completed. Existing WAMs, which primarily predict action-conditioned visual observations, are not explicitly designed to capture such passive motion dynamics. In this paper, we present AquaWAM, the first World Action Model designed for underwater embodied agents. Instead of predicting future images, AquaWAM models