# AWAM: Active Trajectory-Conditioned View Imagination for Robust Robot Manipulation

- Source: arXiv cs.RO
- Published: 2026-10-19T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/uz22y29yzlsex21hpa93s86zn
- Original: https://arxiv.org/abs/2610.23396

## Summary

AWAM (Active World-Action Model) introduces a virtual active-perception paradigm that actively plans observation positions and, before execution, imagines what will be seen along the planned trajectory. It treats the predicted task-related virtual camera motion as a structured query into a geometry-conditioned world model, yielding a reusable spatial prior that is compressed into a fixed memory and fused with live observations through cross-attention for diffusion-based action prediction.