metadata
pipeline_tag: robotics
license: apache-2.0
WSA: A 3D-Centric World-Spatial-Action Model for Generalizable Robot Control
This repository contains the weights for WSA-Base, a 3D-centric World-Spatial-Action embodied foundation model for generalizable robot control.
- Paper: WSA$_1$: a 3D-Centric World-Spatial-Action Model for Generalizable Robot Control
- Project Page: https://zaleni.github.io/WSA1/
- Repository: https://github.com/zaleni/WSA
Overview
WSA (World-Spatial-Action) is an embodied foundation model that unifies instruction-aligned 2D visual planning, action-conditioned 3D world modeling, and 3D-aware action generation into a shared latent space. WSA-Base utilizes a Qwen3-VL-2B backbone and is pre-trained on diverse datasets to enable data-efficient, generalizable robot manipulation.
For details on how to set up the environment, run inference, or perform downstream fine-tuning, please refer to the official GitHub repository.