Beyond Task Success: Behavioral and Representational Diagnostics for WAM and VLA 事件

Beyond Task Success: Behavioral and Representational Diagnostics for WAM and VLA arXiv:2606.01095v1 Announce Type: cross Abstract: Vision-language-action (VLA) policies and World-Action Models (WAM) represent two increasingly important paradigms for robotic manipulation. However, it remains unclear whether future prediction in WAMs leads to behaviorally meaningful improvements beyond final task success. In this paper, we ask whether WAMs merely add future prediction, or whether they change robo