arxivcs.LG2026-07-09
Write-Protected Discrete Bottlenecks for Language-Grounded World Models: A Structural Limitation and Sufficient Fix
How should language interface with a world model's discrete symbol system? The dominant paradigm -- end-to-end injection of LLM/VLM features into robot world models (RT-2, Octo, PaLM-E) -- implicitly assumes that language gradients can directly shape physical symbol representatio…