让智能体主动发现世界因果规律的动态变化,提升对未知环境的适应能力。
Curious Causality-Seeking Agents Learn Meta Causal World
- 用元因果图统一建模不同状态下因果关系的转换规则。
- 智能体通过好奇心驱动干预,自动识别触发不同因果子图的元状态。
- 在仿真和真实机械臂任务中均实现对因果漂移的稳健捕捉与泛化。
构建世界模型时,通常假设环境存在单一、不变的因果规律(如牛顿定律)。但实际上,看似变化的因果机制,往往是固定底层机制在有限观测窗口下的表现。这导致策略或环境状态的微小变化,就会改变所观察到的因果结构。本文提出元因果图作为世界模型,以最小化统一表征方式,高效编码不同隐状态下因果结构的转换规则。一个元因果图由多个因果子图组成,每个子图由隐空间中的元状态触发。基于此,我们设计了因果探索智能体,其目标是:(1) 识别触发各子图的元状态;(2) 通过好奇心驱动的干预策略发现对应因果关系;(3) 通过持续好奇心探索与经验迭代优化元因果图。在合成任务和具有挑战性的机械臂操作任务中,实验表明该方法能稳健捕捉因果动态变化,并有效泛化至未见情境。
原文摘要 · Abstract (English)
When building a world model, a common assumption is that the environment has a single, unchanging underlying causal rule, like applying Newton's laws to every situation. In reality, what appears as a drifting causal mechanism is often the manifestation of a fixed underlying mechanism seen through a narrow observational window. This brings about a problem that, when building a world model, even subtle shifts in policy or environment states can alter the very observed causal mechanisms. In this work, we introduce the \textbf{Meta-Causal Graph} as world models, a minimal unified representation that efficiently encodes the transformation rules governing how causal structures shift across different latent world states. A single Meta-Causal Graph is composed of multiple causal subgraphs, each triggered by meta state, which is in the latent state space. Building on this representation, we introduce a \textbf{Causality-Seeking Agent} whose objectives are to (1) identify the meta states that trigger each subgraph, (2) discover the corresponding causal relationships by agent curiosity-driven intervention policy, and (3) iteratively refine the Meta-Causal Graph through ongoing curiosity-driven exploration and agent experiences. Experiments on both synthetic tasks and a challenging robot arm manipulation task demonstrate that our method robustly captures shifts in causal dynamics and generalizes effectively to previously unseen contexts.
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