# How Much Can Best-of-N Improve a World Action Model: Measuring the Selectable Space and Realizing It in Closed Loop

- Source: arXiv cs.RO
- Published: 2026-10-28T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/ttq1wqnz6cujkxqq39ml044cu
- Original: https://arxiv.org/abs/2610.37196

## Summary

The paper proposes a denoised counterfactual protocol that uses bitwise-reproducible branching, repeated continuations, held-out oracles, and common random numbers to measure the selectable space a world action model (WAM) can achieve when selecting candidate actions at test time, and builds a fail-gated selector on that basis.