JailWAM: Jailbreaking World Action Models in Robot Control

Understand

World Action Models (WAMs) have emerged as a promising paradigm for robotic manipulation, enabling physical interaction across diverse tasks and environments.

• However, their ability to directly follow high-level instructions and execute physical actions also creates potential safety risks, as adversarially designed instructions may induce unsafe robot behaviors.
• To systematically assess these risks, we propose JailWAM, the first jailbreak evaluation framework for WAMs.
• In JailWAM, we integrate three key innovations: Firstly, to address the difficulty of evaluating heterogeneous low-level action outputs, we introduce Visual-Trajectory Mapping, which transforms model-specific actions into unified visual trajectory representations, thereby facilitating consistent risk assessment across WAM architectures.