SOURCE-LINKED INTELLIGENCE

Do Robotic World Models Really Follow Actions? Diagnosing and Aligning Action-Conditioned Generation for Policy Learning

arXiv · AI, language, vision and robotics · article · Aug 25, 2026 · UTC

Action-conditioned world models are increasingly used as learned simulators for policy evaluation and improvement, yet their effectiveness rests on an unverified assumption: generated futures faithfully reflect arbitrary valid actions. Existing benchmarks are typically confined to expert demonstrations, leaving off-expert action following inadequately evaluated. To address this gap, we introduce WorldEcho, which probes action following over a broader action distribution using visual integrity and SE(3) trajectory alignment. Our diagnosis shows that current world models reasonably execute exper

Read original source ↗ Open in workspace

recordType

paper

region

Global