AI RESEARCH
Beyond Task Success: Behavioral and Representational Diagnostics for WAM and VLA
arXiv CS.AI
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ArXi:2606.01095v1 Announce Type: cross 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 robot behavior and internal representations in ways that are actionable for control. We