Box-WAM: 世界行動モデルのためのコンパクトな状態表現としてのボックス軌道
Box-WAM: Box Trajectories as Compact State Representations for World Action Models
ロボット操作のための世界行動モデルにおいて、未来の全フレーム動画予測の代わりに、タスク関連物体の向き付きバウンディングボックスの軌道を予測することで、計算コストを大幅に削減しつつ行動予測性能を向上させる手法を提案した。
著者: Qinxi Yu, Wenzhou Ding, Gloria X. Wang, Albert J. Zhai, Shenlong Wang
分類: cs.RO, cs.AI
原文アブストラクト
World action models (WAMs) are a category of policy models that ex- plicitly predict both actions and future world states. They have been shown to outperform action-only models across various robotic manipulation tasks. How- ever, representing the future with full-frame video prediction can be computation- ally expensive during both training and inference. This raises a central question: what compact state representation preserves the planning and supervision bene- fits of future prediction? In this paper, we propose BoxWAM, which replaces dense future frames with oriented bounding box trajectories of task-relevant ob- jects. By explicitly imagining object-centric future motion, our method provides a lightweight prediction target that captures the key physical changes induced by robot actions. We show that box trajectory prediction substantially reduces com- putational cost while improving action prediction performance, suggesting that object-centric compact states can serve as an efficient alternative to video-based world action modeling for robotic manipulation. Result videos can be found on https://box-wam.github.io