arXiv AI By Kohsei Matsutani, Gouki Minegishi, Core Francisco Park, Takeshi Kojima, Yusuke Iwasawa, Yutaka Matsuo

Few-Shot Demonstrations Elicit the Use of In-Context World Representations in LLMs

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The paper investigates how few-shot demonstrations help large language models (LLMs) build and use in-context world representations. By providing demonstrations from different worlds, the authors show that LLMs can better encode graph structures in low-dimensional hidden states, leading to improved predictions across six models from four families. The study also demonstrates that these representations shift to nearly orthogonal subspaces and that targeted interventions on them more significantly impair performance, indicating their critical role in downstream tasks such as ARC-AGI, web agent tasks, and Othello.

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arXiv AI
Sep 17

CSWAM: Better Causal Semantic Representations for Out-of-Distribution Generalization in World Action Models

The paper introduces CSWAM, a Causal Semantic World Action Model that enhances FastWAM by integrating a causal semantic expert based on V-JEPA 2.1. This expert provides temporally grounded, appearance‑agnostic representations of semantic state changes and motion, leveraging sparse observation history and causal attention to improve action‑only inference. Experiments on simulation and real‑robot tasks show that CSWAM significantly boosts out‑of‑distribution generalization, raising success rates from 10.16% to 45.18% on RoboTwin 2.0 and from 27.5% to 70.0% across real‑robot tasks.

By Tianbin Liu, Jian Zhu, Taiyi Su, Jianjun Zhang, Chong Ma, Zitai Huang, Yi Xu