DECOWAM: Decoupled Whole-Body World-Action Model for Legged Mobile Manipulation

• URL: http://arxiv.org/abs/2608.20114v2
• Date: Fri, 21 Aug 2026 10:04:52 GMT
• Title: DECOWAM: Decoupled Whole-Body World-Action Model for Legged Mobile Manipulation
• Abstract summary: We introduce DECOWAM, a whole-body world-action model that separates camera ego-motion from base and arm actions.<n>On a fixed replay protocol, DECOWAM improved both future-video and action prediction over FastWAM, reducing action MSE by 21.7% with 25.95M trainable adaptation parameters.<n>These results show that embodiment-aware factorization can support parameter-efficient joint visual prediction and whole-body control under moving viewpoints.
• Score: 9.154987050049268
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Mobile manipulation requires a robot to predict how locomotion and arm motion jointly alter future observations and control. Existing world-action models, developed largely for fixed-base platforms, do not explicitly distinguish camera ego-motion from base and arm actions. Here we introduce DECOWAM, a whole-body world-action model that separates these factors through dedicated conditional interfaces. DECOWAM freezes an adapted FastWAM backbone and trains residual adapters, an action-equivalent future bottleneck distilled from privileged observations, adversarially separated base and arm latents, and base-velocity conditioning for video prediction. We further introduce ARMDOG, a real-robot dataset that synchronizes video, whole-body state and action, and language. On a fixed replay protocol, DECOWAM improved both future-video and action prediction over FastWAM, reducing action MSE by 21.7% with 25.95M trainable adaptation parameters. Across 79 closed-loop trials per method, it achieved the highest observed whole-body coordination and base-displacement robustness among the compared systems, while task completion remained comparable to the strongest baseline. These results show that embodiment-aware factorization can support parameter-efficient joint visual prediction and whole-body control under moving viewpoints.

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