GlanceWAM in practice: a source code walkthrough of visual imagination, Goal Attention, and Flow Matching training

A source code walkthrough of GlanceWAM examines its visual imagination, Goal Attention, time conditioning, Flow Matching training, and asynchronous inference mechanisms. The approach reduces WA through low-frequency future frame generation and high-frequency action prediction (the original text is truncated here and does not give the complete metric).