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CausalWAM proves that a world action model can act on causes alone, not on everything it predicts

AspireAI community · arXiv (cs.AI, cs.RO, stat.ML)
World action models learn latents that both predict how a scene evolves and generate actions, but nothing guarantees the action head uses only the parts of the latent that actually caused the demonstrated actions. CausalWAM separates the two: the authors prove that under a sparsity constraint the latents used for action generation are an invertible function of the action-relevant latents alone, with the true structure identified up to a permutation, and this holds even when those latents are statistically dependent on the rest. In practice the fix is a sparse routing path added to the action head of a pretrained world action model, leaving the world-modelling objective untouched. The limitation is that the identification result is an asymptotic theoretical guarantee, and the experiments cover synthetic data and real robots rather than long-horizon deployment.
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