Preprint
Aug 2026
WorldSimProbe: Diagnosing Simulator Faithfulness in Action-Conditioned World Models for Embodied Manipulation
This work formalizes Observable Simulator Contract, a minimal contract that any action-conditioned physical simulator should satisfy: supplied actions must induce corresponding agent motion, and environment responses must be grounded in that realized motion.
P. Co, Sichen Hu, Chun-Xuan Jiao et al.
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