The Score That Shapes the Forecast
TL;DR for operators The World Action Critic (WAC) Model1 tests whether evaluating an action’s consequences should influence how an AI system represents its predicted future, rather than merely score that future afterward. The strongest evidence comes from a controlled NAVSIM-v1 ablation: allowing critic gradients to update predictive features produces 93.3 PDMS, compared with 92.3 when those gradients are detached. WAC also improves candidate-ranking metrics against Drive-JEPA, although the aggregate planning-score advantage is only 0.1 point and the comparison uses different candidate pools. ...