FACT: 失敗を考慮した因果的ワールドアクションモデルの訓練
FACT: Failure-Aware Causal Training for World-Action Models
ワールドアクションモデルに失敗データを組み込み、行動の結果を予測する因果的モデルを提案。シミュレーションと実機の双腕操作で既存手法を上回る性能を示した。
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著者: Quanquan Peng, Yutong Liang, Rui Yan, Nicklas Hansen, Xiaolong Wang
分類: cs.RO, cs.AI, cs.LG
原文アブストラクト
Recent world-action models (WAMs) show that co-training policies with future prediction can provide physical priors for action generation. Building on the future-prediction ability of video models, many WAMs generate future videos and recover actions with inverse-dynamics models, or use these predicted videos as goal conditions for action generation. In both cases, the world model is trained mostly on successful demonstrations and has little reason to predict the consequences of bad actions. We introduce FACT, a causal World-Action Model that predicts future video and task progress conditioned on the executed action. This action-conditioned interface allows failure rollouts to supervise action consequences, turning bad actions into valid future targets rather than being discarded. Failure-aware training makes the progress predictor aware of both successful and failed action outcomes, which can optionally be used to score sampled action candidates at inference. Extensive experiments on simulation and real-world bimanual manipulation tasks show that FACT outperforms many existing baselines, improves as failure data are incorporated into training, and reduces success-biased future hallucination under bad actions. See more details at https://fact-wam.github.io/