WCM: World Cognitive Model for General Human-Robot Interaction

Chen et al. proposed the World Cognitive Model (WCM), which uses the SLAK architecture to decouple perception, logic, action, and knowledge modules, and adopts an asynchronous runtime to parallelize reasoning, human-robot communication, and physical execution. On 9 real physical interaction tasks, the average success rate was 73.8%, and the remaining 26.2% unhandled task margin was viewed by the authors as a diagnostic entry point for red team testing. The asynchronous design also introduces latency and state desynchronization risks, where the robot may act based on stale world states.