LeapBot-JAC: Joint Action Chains for World Action Models

Action-chunking policies predict future controls but execute only a prefix before replanning. How should a fixed action-token budget be organized to support ex- ecution? We propose LeapBot-JAC, which allocates sparse future-control refer- ences and dense execution targets within one shared action expert. Both chains are supervised by demonstrated controls and jointly denoised at aligned physical- time positions. Directed attention allows execution tokens to read reference to- kens subject to the host’s visibility constraints. JAC adds neither action tokens nor parameters and retains the host’s world-modeling process; both chains partic- ipate in inference, while only the execution chain drives the robot. On LIBERO, JAC reaches 98.3% success with FastWAM and LeapBot-WA, up from 97.0% and 97.3%. On zero-shot LIBERO-Plus, their success rates improve from 53.5% to 70.4% and from 73.1% to 77.3%, respectively. RoboTwin and two real-world tasks provide additional deployment evaluations. Single-training-seed compar- isons and FastWAM ablations support action-role organization as a practical de- sign choice under a fixed action-token budget.