arxivcs.RO2026-07-20
Test-Time Scaling for World Action Models via Zero-Shot Geometric Evaluation
Zesen Zhao, Minkyoung Cho, Hui shen, Boyuan Zheng, Kunxiao Gao, Yulong Cao, et al.
Test-time scaling improves foundation-model inference by spending additional computation, but robot control requires deciding whether extra compute is useful before executing an action. World Action Models (WAMs) make this decision natural: each rollout exposes both an action chu…