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This paper introduces the Latent Evolution Operator Network (LEON), which enhances World Action Models (WAMs) by modeling latent state transitions through context-modulated operator-based propagation and additive forcing. By framing transition realization as a distinct architectural choice, LEON leverages a controlled Koopman generator perspective to improve the robustness and performance of robot policies in dynamic environments. The findings demonstrate that LEON significantly outperforms traditional Transformer-based predictors in closed-loop scenarios, highlighting the importance of transition realization in latent WAMs.
Transition realization is a game-changer for World Action Models, with LEON boosting performance and robustness beyond traditional methods.
World Action Models (WAMs) augment robot policies by predicting how task-relevant scene states may evolve under interaction. Recent WAMs increasingly perform such prediction in latent representation spaces, avoiding full appearance-level generation while preserving control-relevant information. Yet latent transitions are commonly realized with Transformer-based predictors whose inductive structure is centered on token interaction rather than temporal evolution. We study transition realization as an architectural choice distinct from predictive representation and prediction-policy coupling. We introduce the Latent Evolution Operator Network (LEON), which models latent evolution in a learned observable space through context-modulated operator-based propagation and additive forcing. Grounded in the controlled Koopman generator view of evolution, LEON organizes context-dependent transition variation around a shared evolution-operator structure while retaining a complementary path for additive change. Controlled dynamical systems verify the resulting evolution-specific inductive bias and the complementary roles of operator propagation and forcing. Across two WAM formulations that integrate latent prediction into the policy differently, LEON improves closed-loop performance and robustness while remaining effective under full transition replacement. These results establish transition realization as a consequential architectural choice in latent WAMs.
