# Daily Project Hands-on Sharing: ST-WAM Source Code Walkthrough

- Source: Guyuehome
- Published: 2026-10-12T04:53:00.000Z
- RoboHot: https://robohot.news/en/items/f8xydg2xwete5gxfov77mhzas
- Original: https://www.guyuehome.com/detail?id=2105294171200843777

## Summary

ST-WAM is a model for robot action generation. This article presents a hands-on analysis based on its source code, introducing the implementation of dual-space future modeling, CAIR history retrieval, and cross-branch attention, and outlining the training and inference pipelines to explain how semantic information and temporal information jointly serve robot action generation.