This paper introduces Completion Aware Guidance (CAG), a training-free sampling method that guides generation toward task completion, and shows that this failure is not inherent to the world model backbone, but emerges when adapted for short-chunk control.
Abstract
World Action Models (WAMs) predict visual futures and robot actions, yet they remain susceptible to task-incomplete imagination, where plausible, action-consistent predictions omit the transition needed for task completion. In this paper, we show that this failure is not inherent to the world model backbone, but emerges when adapted for short-chunk control, which can repeatedly favor plausible local continuations over task-completing transitions. To address this, we introduce Completion Aware Guidance (CAG), a training-free sampling method that guides generation toward task completion. Across representative WAMs, CAG improves success from 64% to 70% on a RoboTwin 2.0 subset and from 69% to 75% in zero-shot simulation, while reducing task-incomplete imagination from 79% to 40%.
This work uses a frozen action-conditioned world model to predict action-conditioned consequences and construct feedback based on consistency between the two future predictions and alignment with the terminal goal to show that cross-model prediction discrepancy can provide useful feedback for improving robot policies u...
Yu-Heng Qiao, Zi-Ran Wei, Xiao-Hang Wang et al.· 0 citations
World action models (WAMs) improve robot control by modeling how observations evolve, but generating future observations at test time incurs substantial latency. Fast-WAM removes this process for efficiency; however, our matched implementations show lower generalization for Fast-WAM than for future-aware alternatives,...
Cross-task generalization remains difficult for world action models (WAMs), even when their predicted futures depict plausible manipulation. This gap can be attributed directly: we make this gap directly testable by decoupling a WAM into a world model and an inverse-dynamics model (IDM), then holding the IDM fixed whil...
Chen Zhao, Zi-Peng Ye, Yi-Han Lin et al.· 0 citations
World action models (WAMs) have emerged as a promising paradigm for robotic control by jointly predicting future visual dynamics and actions from an initial observation and instruction. However, existing WAMs struggle with long-horizon prediction, as generating dense video rollouts is highly inefficient. Some recent WA...
Fei Zhang, Zhao-Chong An, Duncan P. Frost et al.· 1 citation
World-Action Models (WAMs) couple action generation with predictions of how physical interactions unfold. However, current post-deployment learning paradigms typically improve behavior without requiring better world predictions. Especially in dexterous manipulation, small execution errors can compound in high-dimension...
Xiang-Cheng Zhan, Zi-Rui Chen, Yi-Cheng Zhao et al.· 0 citations
Long-horizon compositional manipulation has become increasingly important for real-world robot deployment, where a single task involves multiple coordinated subtasks. Existing world-action models (WAMs) jointly predict short-horizon visual futures and actions, but typically lack explicit subtask-level reasoning. We pro...
Shu-Kai Gong, Xuan-Ran Zhai, Yintianrun Zhang et al.· 0 citations
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