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

- Source: arXiv cs.RO
- Published: 2026-10-22T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/xz3qntvhl1ie2tmd74du8nz9e
- Original: https://arxiv.org/abs/2610.30117

## Summary

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.