The fact that Walmart trains their employees on how to get public benefits is an implicit admission that they know they aren't paying them enough. Maybe defining "enough" is hard, but they're not even trying, and are instead explicitly pushing the burden onto taxpayers. That's reprehensible; I personally do not care to subsidize their workforce just because they want higher margins.
Even just raising wages and watching how much attendance at these "welfare training sessions" declines would be an improvement.
While I definitely think wages should be higher, I don't think your assessment of the situation is accurate. Walmart didn't invent welfare. Walmart lobbies for higher wages, and pays higher than many comparable jobs. Them doing their employees a favor isn't a bad thing, they could just as easily pay low wages and not bother trying to help their employees with public assistance.
Small businesses are the reason the minimum wage is still 7.25, not Walmart.
Even just raising wages and watching how much attendance at these "welfare training sessions" declines would be an improvement.