cs.AIJul 8, 2026

Grounding Spatial Relations in a Compact World Model: Instruction Leakage and a Goal-Free Dynamics Fix

Authors: Yufeng WangLu WeiHaibin Ling

Organizations: 1Stony Brook University · 2Westlake University

Abstract

Compact world models that condition on a language goal promise to ground relations such as ``put the red block left of the blue block'' using a sparse set of explicit \emph{reference anchors}. We ask when such references actually ground a relation, and identify a trap: a goal-conditioned predictor reaches a striking 0.900.90 relation-readout accuracy, yet this is \emph{instruction transcription}, not perception. Withholding the goal collapses it to chance (0.90 ⁣ ⁣0.270.90\!\to\!0.27, three seeds) and a counterfactual instruction makes the predicted anchors follow the \emph{false} instruction 94.5%94.5\% of the time (true scene 2.3%2.3\%; N=256N{=}256). Tested across three settings and a within-task ablation, our central claim characterizes the confound: \textbf{instruction leakage occurs when the scored quantity is transcribable from the instruction (when the instruction names the answer) and is essentially independent of how predictive the non-instruction inputs are.} Our tabletop and the external BabyAI benchmark leak, whereas a Language-Table forward-dynamics world model whose instruction names \emph{referents} does not, until the instruction is augmented to name the direction; and degrading the action never increases leakage, the opposite of what predictor-competition predicts. The diagnosis prescribes the fix: keep the goal out of the dynamics (it belongs to the planner's cost) and supervise the \emph{read} path, recovering genuine, instruction-independent grounding (0.880.88, identical with and without the goal). The detection protocol and remedy apply to any goal-conditioned world model whose instruction names the scored quantity.

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