AW-0's code stream fixes world model prediction: picks mango where baseline grabs apple
trevordarrell · x · 2026-10-27
Part 5/8 of the AW-0 thread: the planning signal changes predicted futures. On an instruction like 'arrange fruits so only mango remains in the left bowl', AW-0 predicts interacting with the mango while a code-less WAM targets the apple—explicit code makes intended objects and operations clear. More coherent hand-object alignment is also observed in card insertion, showing structured skill guidance improves both semantic alignment and predictive support for manipulation.
Related event: AW-0's Code Planning Sharpens Prediction and Boosts Execution(2 posts)→
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