arXiv:2603.28955v1 Announce Type: new Abstract: This paper presents the World-Action Model (WAM), an action-regularized world model that jointly reasons over future visual observations and the actions that drive state transitions. Unlike conventional world models trained solely via image prediction, WAM incorporates an inverse dynamics objective into DreamerV2 that predicts actions from latent state transitions, encouraging the learned representations to capture action-relevant structure critical for downstream control. We evaluate WAM on enhancing policy learning across eight manipulation tasks from the CALVIN benchmark. We first pretrain a diffusion policy via behavioral cloning on world model latents, then refine it with model-based PPO inside the frozen world model. Without modifying the policy architecture or training procedure, WAM improves average behavioral cloning success from 59.4% to 71.2% over DreamerV2 and DiWA baselines. After PPO fine-tuning, WAM achieves 92.8% average success versus 79.8% for the baseline, with two tasks reaching 100%, using 8.7x fewer training steps.

arXiv:2508.04735v2 Announce Type: replace-cross Abstract: Retinal detachment (RD) is a vision-threatening condition that requires prompt intervention to preserve sight. A critical factor in treatment urgency and visual prognosis is macular involvement -- whether the macula is intact or detached. Point-of-care ultrasound (POCUS) is a fast, non-invasive and cost-effective imaging tool commonly used to detect RD in various clinical settings. However, its diagnostic utility is limited by the need for expert interpretation, especially in resource-limited environments. Deep learning has the potential to automate RD detection on ultrasound, but there are no clinically available models, and prior research has not addressed macular status -- an essential distinction for surgical prioritization. Additionally, no public dataset currently supports macular-based RD classification using ultrasound video. We introduce Eye Retinal DEtachment ultraSound (ERDES), the first open-access dataset of ocular ultrasound clips labeled for (i) presence of RD and (ii) macula-detached vs. macula-intact status. ERDES enables machine learning development for RD detection. We also provide baseline benchmarks by training 40 models across eight architectures, including 3D convolutional networks and transformer-based models.