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

- Source: arXiv cs.RO
- Published: 2026-10-26T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/u7cxuypwcm031tbjg2fnmt92l
- Original: https://arxiv.org/abs/2608.24885

## Summary

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.