@article{peng2026fact,
  title   = {FACT: Failure-Aware Causal Training for World-Action Models},
  author  = {Peng, Quanquan and Liang, Yutong and Yan, Rui and Hansen, Nicklas and Wang, Xiaolong},
  journal = {arXiv preprint arXiv:2608.10232},
  year    = {2026}
}