Preprint
Aug 2026
Do Robotic World Models Really Follow Actions? Diagnosing and Aligning Action-Conditioned Generation for Policy Learning
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-exp...
Si-Xiang Chen, Jia-Ming Liu, Ji-Xin Wu et al.
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