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CW-WAM: A Force-Sensitive Manipulation World Action Model That Jointly Predicts Contact Wrench

CW-WAM is a world action model that jointly predicts video, motion, and contact wrench. Inspired by hybrid motion-force control, it uses a unified interaction module to predict time-aligned motion-wrench chunks as control references. It structures motion-wrench dependencies with pair-causal attention and retains past interaction information in a fixed-length wrench memory; the predicted wrench chunk serves as the force reference for a 20 Hz outer-loop admittance controller.

Part of the event: CW-WAM: A Force-Sensitive Manipulation Model Jointly Predicting Contact Torque

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