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What Matters in Designing World Action Models: An Empirical Study

arXiv · AI, language, vision and robotics · article · Sep 21, 2026 · UTC

World Action Models (WAMs) have emerged as a promising paradigm for generalizable robot control. Despite the growing number of WAM systems, existing works often introduce unified systems that bundle together multiple design choices, such as architecture and training strategy, making it difficult to isolate individual contributions and systematically compare alternative designs. In this work, we present a controlled study that disentangles these design choices and analyzes not only their empirical effects, but also how and why they shape WAMs. More specifically, we focus on three fundamental qu

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