# Consistency Distillation

Sber Robotics Center released GreenWAM, a robot foundation model rebuilt from Cosmos 3 Edge to serve as both a world model and a policy. A shared 79-slot anatomical action space maps the native joints of 20 robot families onto common leg, torso, arm and finger coordinates, and one model is trained jointly in seven visual and action modes. On WorldArena 1.0 it has the highest trajectory, depth and 3D accuracy among the compared world-action models and video generators; on the real Green humanoid it completes 95.6% of in-distribution instructions, against 88.9% for a policy adapted from Cosmos 3 Edge and 84.4% for π0.5.

Sber Robotics Center released GreenWAM, a robot foundation model rebuilt from Cosmos 3 Edge to serve as both a world model and a policy. A shared 79-slot anatomical action space maps the native joints of 20 robot families onto common leg, torso, arm and finger coordinates, and one model is trained jointly in seven visual and action modes. On WorldArena 1.0 it has the highest trajectory, depth and 3D accuracy among the compared world-action models and video generators; on the real Green humanoid it completes 95.6% of in-distribution instructions, against 88.9% for a policy adapted from Cosmos 3 Edge and 84.4% for π0.5.

Sampling from discrete diffusion models previously redrew randomness at every step, so the trajectory could not be fixed. Exponential residual flows give each position and token a continuous residual variable that evolves deterministically by piecewise ODEs after initialization, with a token change triggered whenever a residual reaches zero, and the construction is proved to preserve the marginals of the original diffusion at every time. At matched model-evaluation budgets, generation quality is comparable to ancestral sampling, and the deterministic trajectories support consistency distillation.

Sampling from discrete diffusion models previously redrew randomness at every step, so the trajectory could not be fixed. Exponential residual flows give each position and token a continuous residual variable that evolves deterministically by piecewise ODEs after initialization, with a token change triggered whenever a residual reaches zero, and the construction is proved to preserve the marginals of the original diffusion at every time. At matched model-evaluation budgets, generation quality is comparable to ancestral sampling, and the deterministic trajectories support consistency distillation.