mlsanityData to 14 Oct 2026

DreamLedger: Where to Refuse World-Model Imagination Using Execution-Settled Credit

arXiv 2608.23863 ↗First posted 24 Aug 2026cs.ROcited by 0

On the map: World models → Embodied and robot world models

Abstract (arXiv)

World-model predictions inform robot actions, yet instantaneous reliability signals do not retain the outcomes of comparable past predictions. DreamLedger registers consumed predictions as claims, settles them against execution outcomes, and uses persistent execution history from comparable operating conditions, regions, and prediction horizons to estimate credit before future reliance. Replayable records connect each decision to its supporting evidence and eventual outcome. In ten-seed navigation comparisons at matched refusal volume, removing history features or resetting history increases burn rate, measured as failures per consumed prediction. An independent ten-seed manipulation replication at matched refusal volume finds that, relative to random refusal, DreamLedger lowers burn rate by 4.8 percentage points (95% CI: 0.8-8.7) and uses fewer probes. Randomized audits directly measure higher failure rates among denied candidates, and post-warmup shifts isolate the contribution of newly accumulated settlements. Franka experiments establish online deployment through replay of all 1,062 prediction uses and demonstrate a prospective gate transition: new failures lower previously high credit below a frozen threshold, triggering refusal before the next action. Task completion and verification cost characterize the trade-offs of these interventions.

Key facts. No citing papers in the map yet (data through 14 Oct 2026). Placed in Embodied and robot world models, one of 11 directions in World models. Builds on 16 of its 46 references that are in the map. First posted on arXiv 24 Aug 2026.

Builds on

16 of 46 references.

Closest ancestors · 4

Same direction, newest first

  1. 2026Validate the Dream Before You Trust Its Verdict: Admissibility for World-Model Simulators8 Jul
  2. 2026When to Trust Imagination: Adaptive Action Execution for World Action Models7 May
  3. 2025World Models That Know When They Don't Know - Controllable Video Generation with Calibrated Uncertainty5 Dec
  4. 2025V-JEPA 2: Self-Supervised Video Models Enable Understanding, Prediction and Planning11 Jun

Other references · 12

  1. 2025From Foresight to Forethought: VLM-In-the-Loop Policy Steering via Latent Alignmentcited by 52
  2. 2025Uncertainty-Aware Robotic World Model Makes Offline Model-Based Reinforcement Learning Work on Real Robotscited by 17
  3. 2026Self-Evolving World Models for LLM Agent Planningcited by 13
  4. 2026Biased Dreams: Limitations to Epistemic Uncertainty Quantification in Latent Dynamics Modelscited by 5
  5. 2026World Models: A Comprehensive Survey of Architectures, Methodologies, Reasoning Paradigms, and Applicationscited by 3
  6. 2026Robustness without Wrinkles: Parallel Simulation and Robust MPC for Certified Deformable Manipulationcited by 3
  7. 2026Failure Detection for Surgical Robot Imitation Policies via Flow-Matching World Modelingcited by 3
  8. 2026Security of World-Model-Based Embodied AI: A Lifecycle of Threats, Defenses, and Evaluationcited by 2
  9. 2026ELVIS: Ensemble-Calibrated Latent Imagination for Long-Horizon Visual MPCcited by 1
  10. 2026Conformal Orbit-Valid Trust Horizons for Equivariant World Modelscited by 1
  11. 2026When to Personalize Household Object Search: A Rigidity-Gated Hybrid Policycited by 1
  12. 2026Learning from World Feedback: Why Model Uncertainty Fails as a Risk Signal in Model-Based RLcited by 1

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  1. 2026World Models Dream of Success: Diagnosing and Repairing Failure Insensitivity in Robot World Models
  2. 2026Credit Without Ground Truth: Auditing Step-Level Credit Assignment in LLM Agents Against Executed Replay
  3. 2026Commit While Futures Agree: Consequence-Aware Adaptive Action Chunking for Robot Manipulation ↗
  4. 2026Future Anchored Verification and Online Recovery for World Action Models
  5. 2026Refuses in Chat, Complies with Arms: LLM Refusal Does Not Survive Robot Control ↗
  6. 2026DreamAvoid: Critical-Phase Test-Time Dreaming to Avoid Failures in VLA Policies
  7. 2026ScratchWorld: Evaluating If World Models Compute Executable Consequences
  8. 2026Is the Future Compatible? Diagnosing Dynamic Consistency in World Action Models