Article

Do Robotic World Models Really Follow Actions? WorldEcho Diagnoses and WorldSync Aligns Action-Conditioned Generation

The authors propose WorldEcho, which evaluates whether action-conditioned world models truly follow commanded actions over a broader action distribution through visual integrity and SE(3) end-effector trajectory alignment. The diagnosis shows that models trained on expert data perform well on demonstrated actions but produce action-inconsistent or visually invalid generations on non-expert trajectories.

Part of the event: WorldEcho Evaluates Action-Following in World Models

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