Abstract
World action models (WAMs) built on pretrained video generation models adapt quickly to new robotic tasks, but they forget previously learned tasks under sequential fine-tuning. Experience replay (ER) mitigates such forgetting by rehearsing data of previous tasks, yet this data is often unavailable in robotics, where a policy is deployed as weights only and its training data is not shared along with it. In this work, we ask whether a WAM can achieve data-free continual learning by regenerating its own past. Our key observation is that a WAM can indeed autoregressively regenerate complete rollouts of previously learned tasks and replay them to mitigate forgetting. However, replaying such raw rollouts still lags far behind replaying real data, which we attribute to two issues. First, the WAM is unable to recognize task completion and keeps generating purposeless motion after the task is done. Second, under open-loop generation, the generated actions gradually drift away from the generated observations. To address both issues, we present rectified generative replay (R$^2$-WAM), which truncates generated rollouts at task completion with an agentic evaluator and filters out rollouts whose actions are physically inconsistent with the observations. On the four LIBERO suites and five real-world tasks, R$^2$-WAM reduces forgetting by over 90% relative to sequential fine-tuning and nearly matches ER without accessing any data from previous tasks. Our analysis further reveals that forgetting in WAMs concentrates in inverse dynamics modeling: a forgotten WAM still produces visually plausible observations of previous tasks while its generated actions fail. Project page: this https URL
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URL
https://arxiv.org/abs/2610.18038
