WorldToken:面向机器人模仿学习的时间优先序列建模

HuggingFace Daily Papers(社区热门论文)·2026-08-23 08:00·2天前
AI 导读

WorldToken 提出时间优先策略,将每决策步的多视角图像、本体感觉与任务条件融合为单一世界 token,由因果时序 Transformer 建模并配合扩散动作头生成动作块。在 23 个 RoboCasa 任务上,85.3M 参数策略借助每任务 2,900 条生成演示达到 59.45% 平均闭环成功率。缩减可见历史会显著降低闭环成功率,但结果不证明其优于其他序列组织方式。

HuggingFace Daily Papers(社区热门论文)
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WorldToken:面向机器人模仿学习的时间优先序列建模

2026-08-23 08:00· 2天前
AI 导读

WorldToken 提出时间优先策略,将每决策步的多视角图像、本体感觉与任务条件融合为单一世界 token,由因果时序 Transformer 建模并配合扩散动作头生成动作块。在 23 个 RoboCasa 任务上,85.3M 参数策略借助每任务 2,900 条生成演示达到 59.45% 平均闭环成功率。缩减可见历史会显著降低闭环成功率,但结果不证明其优于其他序列组织方式。

Robot policies receive heterogeneous observations at each decision step, yet sequence models differ in how they organize these inputs over time. We introduce WorldToken, a time-first policy instantiation that fuses multiview images, proprioception, and task conditioning within each policy timestep into one world token. A causal temporal Transformer models the resulting world-token sequence, and a diffusion action head generates action chunks. On 23 RoboCasa tasks, an 85.3M-parameter policy trained from scratch apart from a frozen pretrained CLIP text encoder achieves 59.45% mean closed-loop success using 2,900 generated demonstrations per task. A complete factorial sweep over five dataset sizes, five model sizes, and two training seeds shows consistent gains from additional target-domain data and diminishing returns beyond moderate model size. Under same-checkpoint history truncation, reducing visible history to one or two policy timesteps lowers closed-loop success for all 50 RoboCasa policies. On RMBench Blocks Ranking, reducing visible history from 146 to 8 seconds lowers evaluator success from 95% to 28%, while an exploratory extended rollout sustains the reference swap sequence for over 850 seconds. These results establish the empirical feasibility of the complete WorldToken instantiation and characterize its data-scaling and temporal-context behavior under the tested recipes. They do not establish superiority over alternative sequence organizations or isolate which components of the complete implementation drive the observed performance.

来源:HuggingFace Daily Papers(社区热门论文)· arxiv.org