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

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arXiv:2607.06925v1 Announce Type: new 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 $0.90$ relation-readout accuracy, yet this is \emph{instruction transcription}, not perception. Withholding the goal collapses it to