Zhaoyang Fu

Siyin Wang, Junhao Shi, Zhaoyang Fu et al.

Vision-Language-Action (VLA) models have achieved strong semantic generalization for embodied policy learning, yet they learn reactive observation-to-action mappings without explicitly modeling how the physical world evolves under intervention. A growing body of work addresses this limitation by integrating world models, predictive models of environment dynamics, into the action generation pipeline. We term this emerging paradigm World Action Models (WAMs): embodied foundation models that unify predictive state modeling with action generation, targeting a joint distribution over future states and actions rather than actions alone. However, the literature remains fragmented across architectures, learning objectives, and application scenarios, lacking a unified conceptual framework. We formally define WAMs and disambiguate them from related concepts, and trace the foundations and early integration of VLA and world model research that gave rise to this paradigm. We organize existing methods into a structured taxonomy of Cascaded and Joint WAMs, with further subdivision by generation modality, conditioning mechanism, and action decoding strategy. We systematically analyze the data ecosystem fueling WAMs development, spanning robot teleoperation, portable human demonstrations, simulation, and internet-scale egocentric video, and synthesize emerging evaluation protocols organized around visual fidelity, physical commonsense, and action plausibility. Overall, this survey provides the first systematic account of the WAMs landscape, clarifies key architectural paradigms and their trade-offs, and identifies open challenges and future opportunities for this rapidly evolving field.

Dayan Pan, Zhaoyang Fu, Jingyuan Wang et al.

Large Language Models (LLMs) possess remarkable generalization capabilities but struggle with multi-task adaptation, particularly in balancing knowledge retention with task-specific specialization. Conventional fine-tuning methods suffer from catastrophic forgetting and substantial resource consumption, while existing parameter-efficient methods perform suboptimally in complex multi-task scenarios. To address this, we propose Contextual Attention Modulation (CAM), a novel mechanism that dynamically modulates the representations of self-attention modules in LLMs. CAM enhances task-specific features while preserving general knowledge, thereby facilitating more effective and efficient adaptation. For effective multi-task adaptation, CAM is integrated into our Hybrid Contextual Attention Modulation (HyCAM) framework, which combines a shared, full-parameter CAM module with multiple specialized, lightweight CAM modules, enhanced by a dynamic routing strategy for adaptive knowledge fusion. Extensive experiments on heterogeneous tasks, including question answering, code generation, and logical reasoning, demonstrate that our approach significantly outperforms existing approaches, achieving an average performance improvement of 3.65%. The implemented code and data are available to ease reproducibility at https://github.com/Applied-Machine-Learning-Lab/HyCAM.