WorldBagel：視覚・言語・行動・世界モデルの統合の力
WorldBagel: Uncovering the Power of Unified Multimodal Models for Vision-Language-Action-World Modeling
統合型マルチモーダルモデルを用いて、ロボット操作タスクにおける世界モデルの性能を向上させる新しいフレームワークを提案した。
著者: Zelin Zhao, Min Shi, Bo Yuan, Haotian Xue, Jialuo Li, Lama Moukheiber, Humphrey Shi, Yongxin Chen
分類: cs.CV, cs.LG
原文アブストラクト
World models aim to capture environment dynamics in ways that support perception, reasoning, and action, and have recently become a central direction in Vision-Language-Action-World (VLAW) modeling. Meanwhile, unified vision-language models have demonstrated strong multimodal generation capabilities, yet their potential as world models remains underexplored. In this work, we introduce \texttt{WorldBagel}, a unified VLAW framework built on BAGEL, a modern multimodal unified model, and use it to systematically investigate the role of unification in world modeling. Across multi-task robotic manipulation and cross-domain experiments, \texttt{WorldBagel} consistently outperforms task-specific alternatives and learns action representations that are more structured and semantically aligned with visual and linguistic context. Experiments on LIBERO, Language Table, and Franka show that unification is not only an architectural convenience, but also a key factor in learning effective VLAW models, leading to consistent empirical gains and deeper insights into multimodal world modeling. Code and model checkpoints will be released upon acceptance.