# ω-0: A Latent Predictive World Action Model for Concurrent Humanoid Loco-Manipulation

arXiv: https://arxiv.org/abs/2608.06375 · HTML: https://mlsanity.com/paper/2608.06375/

## Key facts

- Cited by 6 papers in the map (data through 14 Oct 2026).
- Placed in Humanoid and legged locomotion world models, one of 11 directions in World models.
- Builds on 40 of its 52 references that are in the map.
- First posted on arXiv 6 Aug 2026.

## Placed in

- World models / [Humanoid and legged locomotion world models](https://mlsanity.com/wm/humanoid-and-legged-locomotion-world-models/)

## Builds on (most cited first, 30 of 40)

- [Denoising Diffusion Implicit Models](https://mlsanity.com/paper/2010.02502/) (2020)
- [RoFormer: Enhanced Transformer with Rotary Position Embedding](https://mlsanity.com/paper/2104.09864/) (2021)
- [Qwen3-VL Technical Report](https://mlsanity.com/paper/2511.21631/) (2025)
- [Wan: Open and Advanced Large-Scale Video Generative Models](https://mlsanity.com/paper/2503.20314/) (2025)
- [RT-1: Robotics Transformer for Real-World Control at Scale](https://mlsanity.com/paper/2212.06817/) (2022)
- [π0.5: a Vision-Language-Action Model with Open-World Generalization](https://mlsanity.com/paper/2504.16054/) (2025)
- [Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware](https://mlsanity.com/paper/2304.13705/) (2023)
- [V-JEPA 2: Self-Supervised Video Models Enable Understanding, Prediction and Planning](https://mlsanity.com/paper/2506.09985/) (2025)
- [FAST: Efficient Action Tokenization for Vision-Language-Action Models](https://mlsanity.com/paper/2501.09747/) (2025)
- [World Action Models are Zero-shot Policies](https://mlsanity.com/paper/2602.15922/) (2026)
- [Mobile ALOHA: Learning Bimanual Mobile Manipulation with Low-Cost Whole-Body Teleoperation](https://mlsanity.com/paper/2401.02117/) (2024)
- [WorldVLA: Towards Autoregressive Action World Model](https://mlsanity.com/paper/2506.21539/) (2025)
- [Fast-WAM: Do World Action Models Need Test-time Future Imagination?](https://mlsanity.com/paper/2603.16666/) (2026)
- [Causal World Modeling for Robot Control](https://mlsanity.com/paper/2601.21998/) (2026)
- [Cosmos Policy: Fine-Tuning Video Models for Visuomotor Control and Planning](https://mlsanity.com/paper/2601.16163/) (2026)
- [Video Prediction Policy: A Generalist Robot Policy with Predictive Visual Representations](https://mlsanity.com/paper/2412.14803/) (2024)
- [Motus: A Unified Latent Action World Model](https://mlsanity.com/paper/2512.13030/) (2025)
- [Unified Video Action Model](https://mlsanity.com/paper/2503.00200/) (2025)
- [mimic-video: Video-Action Models for Generalizable Robot Control Beyond VLAs](https://mlsanity.com/paper/2512.15692/) (2025)
- [GigaWorld-Policy: An Efficient Action-Centered World--Action Model](https://mlsanity.com/paper/2603.17240/) (2026)
- [ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skills](https://mlsanity.com/paper/2502.01143/) (2025)
- [EgoVLA: Learning Vision-Language-Action Models from Egocentric Human Videos](https://mlsanity.com/paper/2507.12440/) (2025)
- [SONIC: Supersizing Motion Tracking for Natural Humanoid Whole-Body Control](https://mlsanity.com/paper/2511.07820/) (2025)
- [ExBody2: Advanced Expressive Humanoid Whole-Body Control](https://mlsanity.com/paper/2412.13196/) (2024)
- [InternVLA-M1: A Spatially Guided Vision-Language-Action Framework for Generalist Robot Policy](https://mlsanity.com/paper/2510.13778/) (2025)
- [GMT: General Motion Tracking for Humanoid Whole-Body Control](https://mlsanity.com/paper/2506.14770/) (2025)
- [DiT4DiT: Jointly Modeling Video Dynamics and Actions for Generalizable Robot Control](https://mlsanity.com/paper/2603.10448/) (2026)
- [Training-Time Action Conditioning for Efficient Real-Time Chunking](https://mlsanity.com/paper/2512.05964/) (2025)
- [AMO: Adaptive Motion Optimization for Hyper-Dexterous Humanoid Whole-Body Control](https://mlsanity.com/paper/2505.03738/) (2025)
- [UniTracker: Learning Universal Whole-Body Motion Tracker for Humanoid Robots](https://mlsanity.com/paper/2507.07356/) (2025)

## Built on by (most cited first, 6 of 6)

- [MoPA: Coordinated Mobile Manipulation via Subsystem-Specific Perception Alignment](https://mlsanity.com/paper/2609.12081/) (2026)
- [Weave: Learning Whole-Body Dexterous Loco-Manipulation from Human-Object Interactions](https://mlsanity.com/paper/2609.16683/) (2026)
- [Rolling-WAM: World Action Models with Rolling Imagination](https://mlsanity.com/paper/2609.30247/) (2026)
- [WholeBodyWAM: Generalizing Pre-trained World-Action Priors to Humanoid Loco-Manipulation via WBC-Grounded Coordination](https://mlsanity.com/paper/2609.16644/) (2026)
- [RoboFL: Federated Expert Assembly for World Action Models](https://mlsanity.com/paper/2609.34968/) (2026)
- [VOMMI: Collecting and Leveraging Portable Demonstrations for Mobile Manipulation](https://mlsanity.com/paper/2610.08220/) (2026)

## Abstract (arXiv)

Humanoid household tasks often require concurrent loco-manipulation, where the robot must move, adjust posture, maintain balance, and manipulate objects as a single coordinated behavior. Yet existing humanoid policies typically decompose locomotion and manipulation, while recent world-action models remain either arm-centric or video-centered. We present ω-0, a latent predictive whole-body world-action model for real-world humanoid concurrent loco-manipulation. Given a language instruction, current visual observation, and robot proprioceptive state, ω-0 directly predicts controller-compatible whole-body action latents for real-robot execution. Rather than reconstructing future videos, ω-0 learns compact future observation embeddings as a lightweight predictive objective, coupling latent visual foresight with diffusion-based whole-body action generation. The model supports egocentric RGB, exocentric RGB, and exocentric depth inputs, and leverages controller-based simulation replay to ground human/public visual-motion priors into robot-executable action latents. We further collect ω-HOME, a 40+ hour real-world household humanoid dataset with synchronized multi-view observations, whole-body SMPL motions, robot states, and action latents. Real-world experiments on 11 household tasks demonstrate that a single ω-0 model can produce smooth manipulate-while-moving behaviors and consistently outperform representative imitation learning, VLA, humanoid, and WAM baselines.