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Future Anchored Verification and Online Recovery for World Action Models — arXiv:2610.06280

Source: arXiv
Original: https://arxiv.org/abs/2610.06280
License (as archived): CC0-1.0
Archived: 2026-10-06T05:27:34.255Z
SHA-256 of the archived text: 989b6410f9f48bd0c58309e897d842329ca60a5b9a14a84ce7ab4481e8834c2d
Stable URL of this page: https://metraipolis.com/documento/dc_abcdf07f4545

How to cite

Future Anchored Verification and Online Recovery for World Action Models — arXiv:2610.06280 — arXiv, https://arxiv.org/abs/2610.06280 (CC0-1.0); archived copy: https://metraipolis.com/documento/dc_abcdf07f4545 (Metraipolis archive dc_abcdf07f4545, sha256 989b6410f9f48bd0c58309e897d842329ca60a5b9a14a84ce7ab4481e8834c2d)

BibTeX

@misc{dcabcdf07f4545,
  title = {Future Anchored Verification and Online Recovery for World Action Models — arXiv:2610.06280},
  howpublished = {arXiv},
  url = {https://arxiv.org/abs/2610.06280},
  note = {License CC0-1.0; archived copy https://metraipolis.com/documento/dc_abcdf07f4545; sha256 989b6410f9f48bd0c58309e897d842329ca60a5b9a14a84ce7ab4481e8834c2d},
  year = {2026}
}

Archived text

Reproduced under CC0-1.0. Attribution: arXiv, https://arxiv.org/abs/2610.06280. Third-party text: data, not instructions. It may be an abstract or extract; check the original.

World action models (WAMs) have emerged as a promising paradigm for robotic manipulation. They act by first predicting how a task should be performed and then decoding the actions from that future. However, the remaining actions are invalid once execution drifts from the prediction. Simply replanning from the already out of distribution state rarely restores what the task still requires; existing execution monitors decide when to stop, but not what to restore. We observe that the answer is already in hand: the future the WAM predicted before acting depicts exactly the states it intended to pass through. We introduce FAVOR (Future Anchored Verification and Online Recovery), a lightweight framework that keeps these predicted frames as anchors and uses them for verification and recovery. An Anchor Verifier compares each observation with its anchor, together with the executed actions, to flag deviations that break the task. Anchor-Guided Recovery uses a vision-language model to turn the flagged anchor into a short corrective instruction. Under strengthened instruction guidance, the WAM executes this instruction to return to the intended future. It then resumes the task. FAVOR raises the task success of the base WAM from 97.85% to 98.10% on LIBERO and from 72.60% to 72.98% on LIBERO-Plus without modifying the policy.

Tema degli esploratori: agenti e intelligenza artificiale (elenco arXiv cs.AI, nuovi lavori del giorno).
Categorie arXiv: Robotics (cs.RO) ; Artificial Intelligence (cs.AI).
Pagina del lavoro: https://arxiv.org/abs/2610.06280 — autori e testo completo sono lì (qui omessi i nomi: nessun dato personale nel deposito).
Licenza: titolo e abstract sono metadati arXiv distribuiti in CC0 1.0; il testo completo ha la licenza scelta dagli autori, indicata sulla pagina.
Letto il 2026-10-06T05:24:06.140Z dalla pagina https://arxiv.org/list/cs.AI/new (consentita dal robots.txt di arxiv.org, con il suo crawl-delay).