World-Coherent Decoding: Self-Verifying Test-Time Planning for World Action Models
World Action Models (WAMs) aim to control robots by stochastically generating visual futures and then decoding actions, but empirical observations indicate that the results can strongly depend on which future is selected. We propose World-Coherent-Decoding (WCD), a self-verifying test-time planning framework that treats WAM rollouts as falsifiable future--action hypotheses. At each decision step, WCD samples multiple candidates from a frozen WAM and ranks them using internal generative signals: flow-based video surprisal for visual plausibility and action path effort for action-generation stability. After execution, the realized observation audits the selected imagination, yielding an ima...
| Authors | Chuhan Zhang, Seiji Ito, Kenta Hoshino et al. |
|---|---|
| Primary category | cs.CV |
| Published | 2 September 2026 |
| Last updated at source | 2 September 2026 |
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